Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing

Wanru Fei; Baosen Tan; Shaolong Kuang; Yubo Fan; Wenyong Liu

doi:10.1007/978-3-030-27529-7_14

Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing

Wanru Fei
, Baosen Tan
, Shaolong Kuang
, Yubo Fan
, Wenyong Liu^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Application of 3D printing in the individualized fabrication of biological organ receives more and more attentions. The adopted movement trajectories of nozzle in 3D printing are all based on depositing materials vertically layer by layer. We noticed that the biological organ has always anisotropic property and its natural growing procedure implies a so-called stereotactic fabrication method which can be implemented utilizing robotic techniques. In this research, we proposed and simulated a robot-assisted stereotactic printing method. Kinematics analysis of the robotic manipulator was analyzed. Trajectory planning method for stereotactic operation was designed. Motion simulation analysis of the planned trajectory utilizing manipulator was conducted which validated effectiveness of the proposed printing system from aspects of motion accuracy, flexibility, and potential collisions. The results indicated flexibility of the proposed robot-assisted stereotactic printing technology.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
Editors	Haibin Yu, Jinguo Liu, Lianqing Liu, Yuwang Liu, Zhaojie Ju, Dalin Zhou
Publisher	Springer Verlag
Pages	154-162
Number of pages	9
ISBN (Print)	9783030275280
DOIs	https://doi.org/10.1007/978-3-030-27529-7_14
State	Published - 2019
Event	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 - Shenyang, China Duration: 8 Aug 2019 → 11 Aug 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11745 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Country/Territory	China
City	Shenyang
Period	8/08/19 → 11/08/19

Keywords

3D printing
Robotics
Simulation
Stereotactic
Trajectory planning

Access to Document

10.1007/978-3-030-27529-7_14

Cite this

Fei, W., Tan, B., Kuang, S., Fan, Y., & Liu, W. (2019). Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing. In H. Yu, J. Liu, L. Liu, Y. Liu, Z. Ju, & D. Zhou (Eds.), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings (pp. 154-162). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11745 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-030-27529-7_14

Fei, Wanru ; Tan, Baosen ; Kuang, Shaolong et al. / Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing. Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. editor / Haibin Yu ; Jinguo Liu ; Lianqing Liu ; Yuwang Liu ; Zhaojie Ju ; Dalin Zhou. Springer Verlag, 2019. pp. 154-162 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{b5d121a8a4254a71a85083ba5357e373,

title = "Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing",

abstract = "Application of 3D printing in the individualized fabrication of biological organ receives more and more attentions. The adopted movement trajectories of nozzle in 3D printing are all based on depositing materials vertically layer by layer. We noticed that the biological organ has always anisotropic property and its natural growing procedure implies a so-called stereotactic fabrication method which can be implemented utilizing robotic techniques. In this research, we proposed and simulated a robot-assisted stereotactic printing method. Kinematics analysis of the robotic manipulator was analyzed. Trajectory planning method for stereotactic operation was designed. Motion simulation analysis of the planned trajectory utilizing manipulator was conducted which validated effectiveness of the proposed printing system from aspects of motion accuracy, flexibility, and potential collisions. The results indicated flexibility of the proposed robot-assisted stereotactic printing technology.",

keywords = "3D printing, Robotics, Simulation, Stereotactic, Trajectory planning",

author = "Wanru Fei and Baosen Tan and Shaolong Kuang and Yubo Fan and Wenyong Liu",

note = "Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2019.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",

year = "2019",

doi = "10.1007/978-3-030-27529-7\_14",

language = "英语",

isbn = "9783030275280",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "154--162",

editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",

booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",

address = "德国",

}

Fei, W, Tan, B, Kuang, S, Fan, Y & Liu, W 2019, Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing. in H Yu, J Liu, L Liu, Y Liu, Z Ju & D Zhou (eds), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11745 LNAI, Springer Verlag, pp. 154-162, 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, Shenyang, China, 8/08/19. https://doi.org/10.1007/978-3-030-27529-7_14

Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing. / Fei, Wanru; Tan, Baosen; Kuang, Shaolong et al.
Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. ed. / Haibin Yu; Jinguo Liu; Lianqing Liu; Yuwang Liu; Zhaojie Ju; Dalin Zhou. Springer Verlag, 2019. p. 154-162 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11745 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing

AU - Fei, Wanru

AU - Tan, Baosen

AU - Kuang, Shaolong

AU - Fan, Yubo

AU - Liu, Wenyong

N1 - Publisher Copyright: © Springer Nature Switzerland AG 2019.

PY - 2019

Y1 - 2019

N2 - Application of 3D printing in the individualized fabrication of biological organ receives more and more attentions. The adopted movement trajectories of nozzle in 3D printing are all based on depositing materials vertically layer by layer. We noticed that the biological organ has always anisotropic property and its natural growing procedure implies a so-called stereotactic fabrication method which can be implemented utilizing robotic techniques. In this research, we proposed and simulated a robot-assisted stereotactic printing method. Kinematics analysis of the robotic manipulator was analyzed. Trajectory planning method for stereotactic operation was designed. Motion simulation analysis of the planned trajectory utilizing manipulator was conducted which validated effectiveness of the proposed printing system from aspects of motion accuracy, flexibility, and potential collisions. The results indicated flexibility of the proposed robot-assisted stereotactic printing technology.

AB - Application of 3D printing in the individualized fabrication of biological organ receives more and more attentions. The adopted movement trajectories of nozzle in 3D printing are all based on depositing materials vertically layer by layer. We noticed that the biological organ has always anisotropic property and its natural growing procedure implies a so-called stereotactic fabrication method which can be implemented utilizing robotic techniques. In this research, we proposed and simulated a robot-assisted stereotactic printing method. Kinematics analysis of the robotic manipulator was analyzed. Trajectory planning method for stereotactic operation was designed. Motion simulation analysis of the planned trajectory utilizing manipulator was conducted which validated effectiveness of the proposed printing system from aspects of motion accuracy, flexibility, and potential collisions. The results indicated flexibility of the proposed robot-assisted stereotactic printing technology.

KW - 3D printing

KW - Robotics

KW - Simulation

KW - Stereotactic

KW - Trajectory planning

UR - https://www.scopus.com/pages/publications/85070693143

U2 - 10.1007/978-3-030-27529-7_14

DO - 10.1007/978-3-030-27529-7_14

M3 - 会议稿件

AN - SCOPUS:85070693143

SN - 9783030275280

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 154

EP - 162

BT - Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings

A2 - Yu, Haibin

A2 - Liu, Jinguo

A2 - Liu, Lianqing

A2 - Liu, Yuwang

A2 - Ju, Zhaojie

A2 - Zhou, Dalin

PB - Springer Verlag

T2 - 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019

Y2 - 8 August 2019 through 11 August 2019

ER -

Fei W, Tan B, Kuang S, Fan Y , Liu W. Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing. In Yu H, Liu J, Liu L, Liu Y, Ju Z, Zhou D, editors, Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Springer Verlag. 2019. p. 154-162. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-27529-7_14

Simulation analysis of trajectory planning for robot-assisted stereotactically biological printing

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Keywords

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