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Related Concept Videos

Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

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Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
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Relative Motion Analysis using Rotating Axes - Acceleration01:22

Relative Motion Analysis using Rotating Axes - Acceleration

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Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame. The absolute velocity of point B is determined by adding the absolute velocity of point A, the relative velocity of point B in the rotating frame, and the effects caused by the angular velocity within the rotating frame.
Time differentiation is...
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
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Time-Domain Interpretation of PD Control01:07

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Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
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Relative Motion Analysis - Acceleration01:10

Relative Motion Analysis - Acceleration

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A slider-crank mechanism converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider. The movement of the slider-crank is an example of general plane motion as the fluctuating angle between the crank and the connecting rod. Consider a segment AB where point A is at the end of the slider and point B is on the diametrically opposite end to point A, on a crack. The variance in...
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Curvilinear Motion: Rectangular Components01:23

Curvilinear Motion: Rectangular Components

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Curvilinear motion characterizes the movement of a particle or object along a curved path, notably evident when envisioning a car navigating a winding road. If the car starts at point A, its position vector is established within a fixed frame of reference, where the ratio of the position vector to its magnitude signifies the unit vector pointing in the position vector's direction.
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Updated: Dec 18, 2025

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Compensatory motion scaling for time-delayed robotic surgery.

Ryan K Orosco1, Benjamin Lurie2, Tokio Matsuzaki3

  • 1Division of Head and Neck Surgery, Department of Surgery, Moores Cancer Center, University of California San Diego, San Diego, CA, USA. rorosco@health.ucsd.edu.

Surgical Endoscopy
|June 10, 2020
PubMed
Summary
This summary is machine-generated.

Instrument motion scaling can improve robotic surgery safety and efficiency during time-delayed procedures. Negative scaling reduced errors and task time, showing promise for remote telesurgery.

Keywords:
Motion scalingRobotic surgerySignal latencyTeleroboticsTelesurgery

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Area of Science:

  • Robotics
  • Surgical Technology
  • Human-Computer Interaction

Background:

  • Remote telesurgery is limited by unavoidable signal latency (time delay).
  • Existing advancements focus on reducing delay, but mitigating its negative effects requires further study.
  • Instrument motion scaling is explored as a novel method to enhance performance in time-delayed robotic surgery.

Purpose of the Study:

  • To investigate the impact of instrument motion scaling on robotic surgery performance under time-delayed conditions.
  • To evaluate the effectiveness of different motion scaling values in mitigating performance decrements caused by time delay.

Main Methods:

  • A user study was conducted using the da Vinci Research Kit system.
  • A ring transfer task was performed with induced time delays (250 ms, 500 ms, 750 ms).
  • Instrument motion scaling was varied, and task completion time and errors were measured. Dynamic time warping analyzed instrument path motion.

Main Results:

  • Surgical performance declined significantly with increasing time delay (500 ms and 750 ms).
  • Higher task times and error counts were observed at greater delays.
  • Negative motion scaling (reducing instrument displacement) improved error rates and trended towards reducing task times under significant delay (750 ms).

Conclusions:

  • Negative instrument motion scaling enhances safety and efficiency in time-delayed robotic surgery.
  • This technique shows potential for improving surgical outcomes in remote telesurgery scenarios.
  • Further research into motion scaling is warranted to optimize its application.