Kinematics and Workspace of a New Surgical Robot with Five Degrees of Freedom

I.L. Scurtu1, N. Plitea2, N. Crisan1, D. Pisla2 1 Department of Vehicles and Transport 2 Department of Mechanical System Engineering Technical University of Cluj-Napoca, Cluj, Romnia Liviu.SCURTU@auto.utcluj.ro
Abstract-The paper presents some aspects about the kinematics and workspace of a new parallel robot developed for minimally invasive surgery. Possible motion of the active joints and the laparoscope movement in surgery field are generated using Matlab software. The robot workspace is generated using the developed geometrical model. The benefits of this parallel structure are presented finally in the paper. Keywords-robotic workspace surgery; parallel robot; kinematics;

The LAPMAN robotic system is a dynamic laparoscope holder guided by a joystick clipped onto the laparoscopic instruments under the operators index finger [5]. The LAPMAN robotic system received FDA clearance in 2003 and has been validated for general surgery, gynecology and urology on the European market in 2003. The da Vinci robotic system developed by the Intuitive Surgical [6] is one of the most complex surgical robots available now in the world. This robot is designed to enable complex surgery using minimally invasive approach. The system consists of an ergonomic surgeons console, a patient side cart with four interactive robotic arms and a highperformance three dimension high definition vision system. The EndoWrist instrument allows the surgeons hand movement to be scaled, filtered and translated into precise movements. Some drawbacks of this robotic system are reported in [7] including size of this system, lack of compatible instruments, equipment and purchase price. The PARAMIS robotic system is a new parallel robot designed in CESTER [8], used for laparoscopic camera positioning. The control input allows the user to give commands for the positioning of the laparoscope using different interface: joystick, microphone, keyboard, mouse and haptic device [9]. The PARASURG-5M is another parallel hybrid surgical robot designed for laparoscope camera positioning in surgery field, which was been developed by the collaboration between Technical University from Cluj-Napoca and University of Medicine and Pharmacy Iuliu Hatieganu from Cluj-Napoca [10, 11]. Tanikawa et al. developed a parallel mechanism on a dexterous micro-manipulation system for use in assembling micro-machines, manipulating biological cells, and performing micro-surgery [12]. Merlet developed a micro robot called MIPS with a parallel mechanical architecture having three degree of freedom that allows fine positioning of a surgical tool. The purpose of MIPS is to act surgeon an accurate tool that may further offers a partial force-feedback [13].

I.

INTRODUCTION

Compared to traditional open surgery, minimal invasive surgery procedures reduce recovery time and trauma of the patient. Minimally invasive surgery is a better alternative to the open surgery whereby essentially the same operations are performed using specialized instruments designed to fit into body trough several pencil-sized holes instead of one large incision [1]. Open surgery traditionally involves making a large incision to visualize the operative field and to access human internal organs. Robotic-assisted surgery was developed to overcome limitation of minimally invasive surgery. Instead of directly moving the instruments, the surgeon uses a computer console to manipulate the instruments attached to multiple robot arms. In recent years the parallel robots have been studied extensively for applications in surgery procedures due to their advantages like high accuracy and good stiffness. Worldwide there are several robotics systems developed for minimal invasive surgery. Jasper et al. have published a detailed presentation of all camera and instrument holders for minimally invasive surgery (MIS) [2]. AESOP robotic arm was the first robotic manipulator of the laparoscopes used in MIS dating from 1993 [3]. After AESOP, Computer Motion has developed Zeus Surgical Robot with three robotic arms attached to the side of the operating table. Another robotic system is ENDOASSIST [4], made by Armstrong Healthcare. This robotic system is a free-standing device that holds the laparoscope and is controlled by the surgeon instead of the assistant. It is activated by a foot pedal and controlled by the surgeons head movements. The console of this robotic system is positioned alongside the patients.
This paper was supported by the project the Scopes International IP Grant Creative Alliance in Research and Education focused on Medical and Service Robotics, IZ74Z0_13736 (Switzerland-Romania-Serbia), 2011-2014.

978-1-4673-0703-1/12/$31.00 2012 IEEE

AQTR 2012

The parallel robotic structure presented in this paper was developed within the CESTER research center within Technical University of Cluj-Napoca, Romania. The robot releases some of the pressure on the abdominal wall in certain positions of the robot and the new robot may be used either as laparoscope holder or as manipulator of active instruments, used for cutting, suturing, grasping etc. II. DESCRIPTION OF THE PARALLEL MECHANISM The architecture of a parallel mechanism is shown in fig. 1, which is composed of a fixed base and two guiding kinematics chains of the platform. Both kinematics chains are connected by two shafts from the fixed base. This robotic structure is the subject of a patent. The movements of parallel robot are achieved by using a rotational motor and four linear motors, as seen in the fig. 1.

structures from the field of minimally invasive surgery. This parallel structure offers higher stiffness and smaller mobile mass than serial ones. Also the ability of this structure to be used as laparoscope holder or as manipulator of active instruments gives an advantage over robots from this area. One disadvantage of this structure is the large space occupied in the operating room. For a better visualization of this parallel mechanism, it was modeled in Solid Works [14] software package. III. KINEMATICS OF THE PARALLEL ROBOT

Kinematics of parallel robot presented in this section describes the relationship between the active joints positions and the end-effector positions and orientation. The kinematic scheme of this parallel mechanism is presented in fig. 1. The robot kinematic model is determined by means of the implicit functions resulted from the geometrical model [15].

F1 (q i, X E , YE , , ) (X E z E S S e1 ) 2 + (YE + z E C S)2 S2 q1 (YE + z E C S) 2 = 0

F2 (q 2, ZE , ) q 2 h1 ZE + z E C = 0
2 F3 (q 3, X E , YE , ZE , , ) (q 3 ZE + z E C h1 ) 2 a1 + 2 + b1 + (X E z E S S e1 ) 2 + (YE + z E C S) 2 2 4b1 [ (X E z E S S e1 )2 + (YE + z E C S)2 = 0 2

(1) F4 (q 4, ZE , ) q 4 ZE d C = 0
F5 (q 5, X E , YE , ZE , , ) (q 5 ZE d C) 2 a 2 + b 2 + 2 2 +(X E + d S S e 2 )2 + (YE d C S) 2 4b 2 [ (X E + d S S e 2 ) 2 + (YE d C S) 2 = 0 2
A. The inverse kinematic model of the parallel robot
Figure 1. Kinematic scheme of parallel robot
2

The rotational motor is positioned on the fixed base and rotates the splined shaft given the active coordinate q1. The next active coordinates: q2, q3, q4, q5 are given by the linear motors which slides on two guiding chains. The splined shaft transmits the rotation given by the rotary motor, turning the first kinematic chain. To achieve the translational motion can be used four piezoelectric motors. The five degrees of mobility and parallel mechanism geometry allows the movement of the laparoscope without support of the patients abdomen, the laparoscope or the instrument just moving around the abdominal insertion point, having an advantage over other

Knowing the end-effectors velocities, X E , YE , ZE , , , the driving velocities q1 , q 2 ,..., q5 are computed using equation (2).

AX + Bq = 0 Having equation (2), it results: q = B1 A X where matrix A and B are given by the next two relations:
. .

(2)

(3)

 F1 X E 0 F A= 3 X E 0 F 5 X E

F1 YE 0 F3 YE 0 F5 YE

0 F2 ZE F3 ZE F4 ZE F5 ZE

F1 0 F3 0 F5

F1 F2 F3 F4 F5

(4)

diff(F5,qi); qi=15 A = diff(Fi,XE) , diff(Fi,YE), diff(Fi,ZE), diff(Fi,psi), diff(Fi, theta); Fi=15 A = diff(Aij, XE)+diff(Aij, YE)+diff(Aij, ZE)+ +diff(Aij, psi)+diff(Aij, theta)+diff(Aij, q1) +diff(Aij, q2) +diff(Aij, q3) +diff(Aij, q4) +diff(Aij, q5); i=15, j=15; B = diff(Bij, XE)+diff(Bij, YE)+diff(Bij, ZE)+ +diff(Bij, psi)+diff(Bij, theta)+ diff(Bij, q1) + +diff(Bij, q2) +diff(Bij, q3) +diff(Bij, q4)+ +diff(Bij, q5); i=1 5, j=15;
q = B 1 A X
. .

F1 q 1 0 B= 0 0 0

0 F2 q 2 0 0 0

0 0 F3 q3 0 0

0 0 0 F4 q 4 0

0 0 0 0 F5 q5

q = B 1 ( AX + AX + Bq) END_COMPUTE DISPLAY: q1 , q2 , q3 , q4 , q5 , q1 , q2 , q3 , q4 , q5 , q1 , q2 , q3 , q4 , q5 B. The direct kinematic model of the parallel robot In the direct kinematic model the input data are the velocities of the actuators q1 , q 2 ,..., q 5 and the output data
(5)

are the velocities of the end-effector: X E , YE , ZE , , . Having equation (2), it results: X = A 1 B q

. .

(9)

The driving accelerations q1 , q 2 ,..., q 5 will be computed, knowing the end-effector accelerations X E , YE , ZE , , . By deriving equation (3) it results: AX + AX + Bq + Bq = 0 By multiplying with A 1 respectively B1 , it results:
X = A 1 (Bq + AX + Bq)

Also, having as input data the driving accelerations q1 , q 2 ,..., q 5 , the end-effectors accelerations result from equation (6): X = A 1 (Bq + AX + Bq)
(10)

(6)

The pseudo-code algorithm for direct kinematic model is presented as follows:

(7)

q = B1 (AX + AX + Bq)

(8)

To a better understand of the inverse kinematic model is presented below the pseudo-code algorithm.
//Inverse kinematic READ:

X E , Y E , Z E , psi, theta, X E , Y E , Z E , psi, theta, X E , Y E , Z E , psi, theta, SET: h1, e1, e2, d, a1, b1, a2, b2, d1; F1, F2, F3, F4, F5; COMPUTE: B = diff(F1,qi) , diff(F2,qi), diff(F3,qi), diff(F4,qi),
.. .. .. .. ..

// Direct kinematic READ: q1 , q2 , q3 , q4 , q5 , q1 , q2 , q3 , q4 , q5 , q1 , q2 , q3 , q4 , q5 SET: h1, e1, e2, d, a1, b1, a2, b2, d1; F1, F2, F3, F4, F5; COMPUTE: B = diff(F1,qi) , diff(F2,qi), diff(F3,qi), diff(F4,qi), diff(F5,qi); qi=15 A = diff(Fi,XE) , diff(Fi,YE), diff(Fi,ZE), diff(Fi,psi), diff(Fi, theta); Fi=15 A = diff(Aij, XE)+diff(Aij, YE)+diff(Aij, ZE)+ +diff(Aij, psi)+diff(Aij, theta)+diff(Aij, q1) +diff(Aij, q2) +diff(Aij, q3) +diff(Aij, q4) +diff(Aij, q5); i=15, j=15; B = diff(Bij, XE)+diff(Bij, YE)+diff(Bij, ZE)+ +diff(Bij, psi)+diff(Bij, theta)+ diff(Bij, q1) + +diff(Bij, q2) +diff(Bij, q3) +diff(Bij, q4)+ +diff(Bij, q5); i=1 5, j=15;

vq1 [rad/s]

X = A1 B q X = A1 ( Bq + AX + Bq) END_COMPUTE DISPLAY: X E , Y E , Z E , psi, theta, X E , Y E , Z E , psi, theta, X E , Y E , Z E , psi, theta,

The calculus of the Jacobian matrices is very important to find the analytical solution for direct and inverse kinematic model of speed and acceleration for implement the model in controller. Detailed calculation of the matrices is presented in Appendix of this paper. IV. RESULTS OF THE KINEMATIC SIMULATION
.. .. .. .. .. . . . . .

q1 [rad]

1.9 1.8 1.7 0 0.5 1 t[s]

vq2 [m/s]

2 1 0 0 0.5 1 t[s] 1.5 2

aq1 [rad/s2]

10 0 10 0 0.2 0 0.2 0 0.5 1 t[s] 1.5 2 0.5 1 t[s] 1.5 2

1.5

1.35 1.3 1.25 1.2 0 0.5 1 t[s] 1.5 2

0 0.05 0.1 0 0.5 1 t[s] 1.5 2

vq3 [m/s]

1.8 1.6 0 0.5 1 t[s] 1.5 2

0.05 0 0.05 0.1 0 0.5 1 t[s] 0.05 0 0.05 0 0.5 1 t[s] 1.5 2 1.5 2

aq3 [m/s ]

aq2 [m/s ]

q2 [m]

0.2 0 0.2 0.4

q3 [m]

0.5

1 t[s]

1.5

1 0.8 0 1.5 1.4 1.3 0 0.5 1 t[s] 1.5 2 0.5 1 t[s] 1.5 2

aq4 [m/s ]

vq4 [m/s]

q4 [m]

0 0.2 0.4 0 0.5 1 t[s] 1.5 2

aq5 [m/s ]

vq5 [m/s]

0.05 0 0.05 0 0.5 1 t[s] 1.5 2

0.2 0 0.2 0 0.5 1 t[s] 1.5 2

q5 [m]

Figure 3. Time history diagrams for driving coordinates, velocities and accelerations

The numerical and simulation results from the next figures was obtained using Matlab software package. For the simulation, the following motion parameters were chosen: Also it needs to be mentioned that the maximum speed was chosen to be 0.2 [m/s] and the maximum acceleration was chosen 0.4 [m/s2]. The results for a linear trajectory of the end-effector with the following data are presented in fig. 2: - the starting point is A(0, 0.7, 0.2) - the end point is B(0.2, 0.9, 0.4) where A and B are two arbitrary points contained in the workspace. The robot parameters used in this model to generate the simulation are: h1=154, e1=300, e2=300, d=409, a1=536, b1=605, a2=536, b2=605, d1=200. These parameters are given in millimeters.
aXe [m/s2] vXe [m/s]

V.

WORKSPACE OF THE PARALLEL ROBOT

Parallel manipulators motions can be restricted by different factors: mechanical limits on passive joints, self-collision between the elements of the robot, limitations due to the actuators and singularity varieties that may split the workspace into separate components. For visual representation of the robot workspace the dexterous workspace was used [17]. The dexterous workspace is a particular case of total orientation workspace, the range of the rotation angles [0, 2]. The algorithm for workspace generation of this robot is developed in MATLAB [17] based on the inverse geometric model. Graphical representation of the robot dexterous workspace can be seen in fig. 4 and 5.

mm 500

0.2 0.1 0 0 0.9 0.8 0.7 0 0.4 0.3 0.2 0 0.5 1 t[s] 1.5 2 0.5 1 t[s] 1.5 2 0.5 1 t[s] 1.5 2

Xe [m]

0.1 0.05 0

0.2 0 0.2 0 0.2 0 0.2 0 0.2 0 0.2 0 0.5 0 0.5 0 0.5 0 0.5 0 0.5 1 t[s] 1.5 2 0.5 1 t[s] 1.5 2 0.5 1 t[s] 1.5 2 0.5 1 t[s] 1.5 2 0.5 1 t[s] 1.5 2

400 300 200 100 0 1000 mm 500 0 500 1000 0 500 1000 1500

0.5

1 t[s]

1.5

0.1 0.05 0 0 0.5 1 t[s] 0.1 0.05 0 1.5 2

0.5

1 t[s]

1.5

psi [rad]

0.6 0.4 0.2 0 0.5 1 t[s] 1.5 2

0.3 0.2 0.1 0

0.5

1 t[s]

1.5

0.8 0.6 0.4 0.2 0 0.5 1 t[s] 1.5 2

0.4 0.2 0 0 0.5 1 t[s] 1.5 2

Figure 2. Linear trajectory in space of the end-effector

atheta [rad/s2]

vtheta [rad/s]

theta [rad]

apsi [rad/s2]

vpsi [rad/s]

aZe [m/s2]

vZe [m/s]

Ze [m]

aYe [m/s2]

vYe [m/s]

Ye [m]

Figure 4. Dexterous workspace of the parallel robot.

Fig. 2 presents the time history for the end-effector motion, and fig. 3 presents the time history diagrams for driving coordinates, velocities and accelerations.

Fig. 4 shows the total workspace of the robot. In this case the end-effector is positioned outside the patients abdomen.

[6] [7]

mm 251

[8]

250.5

250

[9]

249.5 mm 1500 1200 1000 800 600 400 200 1000 500 0 500 1000

249 1400

[10]

[11]

[12] Figure 5. Section of the workspace [13]

VI.

CONCLUSIONS
[14] [15]

This paper presents an important step towards achieving a new parallel robotic system designed for surgical applications. A new structure was obtained which no longer induce any pressure on the abdominal wall which can handle both a laparoscope or an active instrument for different operations like cutting, suturing, grasping. The robot kinematics was developed using an analytical method, Jacobian matrices of this robot were derived. The dexterous workspace of parallel robot was also generated. The obtained numerical and simulation results have shown that the kinematic models could be successfully implemented in the control algorithms of the experimental model. The design of this robot allows a large workspace. As a future research, wants to develop a complete robotic system composed of the three structures as the one studied in this paper, two structures for right hand and left hand of the surgeon and one for laparoscopic camera movement in the surgical field. REFERENCES
[1] K. Kang, Robotic Assisted Suturing in Minimally Invasive Surgery, A Thesis Submitted to graduate Faculty of Rensselaer Polytechnic Institute, Troy, New York, May 2002 Jaspers, JE., Breedveld, P., Herder, JL., Grimbergen, CA., Camera and instrument holders and their clinical value in minimally invasive surgery, 14(3):145-52 Surg Laparosc Endosc Percutan Tech. 2004. Ballantyne, G,H., Robotic surgery, telerobotic surgery, telepresence, and telementoring, Surgical Endoscopy, Springer-Verlag New York Inc., USA, Doi: 10.1007/s00464-001-8283-7, accepted in 25 March 2002. Aiono, S., Gilbert, JM., Soin, B., Finlay, PA., Gordan A., Controlled trial of the introduction of a robotic camera assistant (EndoAssist) for laparoscopic cholecystectomy. Surg Endosc. 2002; 16(9):1267-70. Epub (2002). Polet, R., Donnez, J., Using a Laparoscope Manipulator (LapMan) in Laparoscopic Gynecological Surgery, Surgical Technology International XVII, Belgium, Universal Medical Press (2007).

[16] [17]

Site: http://www.intuitivesurgical.com Plitea, Nicolae., Vlad, Liviu., Popescu, Irinel., Pisla, Doina., Graur, Florin., Tomulescu, Victor., Vaida, Calin., Furcea, Luminita., Forgo, Zoltan., E-learning platform for hepatic robotic minimally invasive surgery using parallel structures, Acta Technica Napocensis, ISSN 1221-5872, No: 51, Vol. III, (2008). Pisla, Doina., Plitea, Nicolae., Vaida, Calin., Hesselbach, J., Raatz, A., Vlad, Liviu., Graur, Florin., Gyurka, B., Gherman, B., Suciu, M., PARAMIS parallel robot for laparoscopic surgery, Chirurgia, No.5, pp. 677 -41, 683, Cluj, Romania, (2010). Vaida, Calin., Contribution to the development and kinematic-dynamic modeling of parallel robots for minimally invasive surgery, PhD. Thesis, Technical University of Cluj-Napoca, Romania, 2008. Pisla, D., Gherman, B. Vaida, C., Plitea, N., Kinematic modeling of a 5 DOF Parallel Hybrid Robot designed for Laparoscopic Surgery, Robotica, Cambridge University Press, 2011, doi:10.1017/S0263574711001299. Gherman, B., et al, Development of Inverse Dynamic Model for a Surgical Hybrid Parallel Robot with Equivalent Lumped Masses, Robotics and Computer-Integrated Manufacturing, 2011, doi:10.1016/j.rcim.2011.11.003. Tamio Tanikawa and Tatsuo Arai., Development of a micromanipulation system having a two-fingered micro-hand, IEEE Transactions and Robotics and Automation, v 15, n 1, 1999, p 152-162. Merlet, J-P., Micro parallel robot MIPS for medical applications, Emerging Technologies and Factory Automation, 2001. Proceedings 2001 8th IEEE International Conference on, v 2, 2001, p. 611-619. Site: www.solidworks.com Scurtu, L., Plitea, N., Kinematic model of a new surgical parallel robot with five degrees of freedom, Acta Technica Napocensis, No: 54 , Vol. 1, ISSN 1221-5872, (2011). Merlet, J-P., Parallel Robots (Second Edition), Volume 128, 2006. Published by Springer, ISBN-13 978-1-4020-4133-4, p. 215-220 Site: http://www.mathworks.com/products/matlab/

APPENDIX Calculus for the Jacobian matrices A and B are presented in next relations.
F1 = sin(q1 ) 2 ( 2 e1 2XE + 2 z E S S ) X E F1 2 = ( 2 YE + 2 z E C S ) Sq1 2 z E C S YE
F1 = 2 z E C S ( e1 XE + z E S S ) 2 z E
2 S S ( YE + z E C S ) Sq1 + 2 z E S S

( YE + z E C S ) F1 2 = Sq1 2 z E C S ( e1 XE + z E S S ) + 2 z E C C ( YE + z E C S ) 2 z E C C ( YE + z E C S ) F2 = 1 ZE ,
F2 = z E S

[2]

[3]

[4]

[5]

F3 2 = 4 b1 ( 2 e1 2 X E + 2 z E S S ) 2 X E ( 2 e1 2 X E + 2 z E S S ) Z + h1 q 3 z E C ) 2 + ( e1 X E + z E S S ) 2 ( E
2 2 + ( YE + z E C S ) a1 + b1 2

F5 = 2 ( 2 YE 2 d C S ) ( X E e 2 + d S YE S ) + ( ZE q 5 + d C ) + ( YE d C S )
2 2 2

a 2 + b 2 4 b 2 ( 2 YE 2 d C S ) 2 2 2 F5 = 2 ( 2 Z E 2 q 5 + 2 d C ) ( X E e 2 + d ZE S S ) + ( ZE q 5 + d C ) +
2 2

F3 = 2 (2 YE + 2 z E C S) ( ZE + h1 q 3 YE z E C ) ( e1 X E + z E S S ) +
2 2

+ ( YE d C S ) a 2 + b 2 2 2
2

+ ( YE + z E C S )

2 2 2 a1 + b1 4 b1 ( 2 YE + 2 z E C S )

F5 = 2 [ 2 d C S ( X E e 2 + d S S ) + 2 d S S ( YE d C S ) ( X E e 2 + d S S )2 + ( ZE q 5 + d C ) 2 + + ( YE d C S ) a 2 + b 2 4 b 2 [ 2 d 2 2 2
2

F3 = 2 ( 2 Z E + 2 h1 2 q 3 2 z E C ) ZE ( ZE + h1 q 3 z E C )2 + ( e1 X E + z E 2 2 2 2 S S ) + ( YE + z E C S ) a1 + b1
F3 = 2 [ 2 z E C S ( e1 X E + z E S S ) 2 z E S S ( YE + z E C S )

C S ( X E e 2 + d S S ) + 2 d S S (YE d C S)]

[ Z E + h1 q 3 z E C ( Z E + h1 q 3 z E C ) + 2 2 + ( e1 X E + z E S S ) + ( YE + z E C S ) 2 2 a1 + b1 [ 2 z E S S ( e1 X E + z E S S )
2

F5 = 2 [ 2 d S ( ZE q 5 + d C ) 2 d C S ( X E e 2 + d S S ) ( X E e 2 + d S S ) + + 2 d C C ( YE d C S ) ( X E e 2 + d S S ) + ( ZE q 5 + d C ) + ( YE d C S )
2 2 2

2 z E S S (YE + z E C S)] F3 = 2 [ 2 z E S ( Z E + h1 q 3 z E C ) + 2 z E C S ( e1 X E + z E S S ) + 2 z E C C ( YE + z E C S ) ( ZE + h1 q 3 z E C ) + ( e1 X E + z E S S ) + ( YE + z E C S )
2 2 2 2 a1 + b1 4 b1 [ 2 z E C S 2 2

a 2 + b 2 4 b 2 [ 2 d C S (X E e2 + 2 2 2 + d S S) 2 d C C (YE d C S)] The partial derivates of the Jacobi matrix B are presented in next relations: F1 2 = 2 Cq1 Sq1 ( e1 XE + z e S S ) q
1 2 + ( YE + z e C S ) F4 F2 =1 =1 q 4 q 2 ,

(e1 X E + z E S S) + 2 z E C C (YE + z E C S)] F4 = 1 ZE F4 = d S ,

F3 = 2 ( 2 ZE + 2 h1 2 q 3 2 z E C ) q 3 ( ZE + h1 q 3 z E C ) + ( e1 XE + z E 2 2 2 2 S S ) + ( YE + z E C S ) a1 + b1
2

F5 = 2 ( 2 X E 2 e 2 + 2 d S S ) ( X E e 2 + X E + d S S ) + ( ZE q 5 + d C ) + ( YE d
2 2

C S ) a 2 + b 2 4 b 2 2 2 2
2

F5 = 2 ( 2 ZE 2 q 5 + 2 d C ) ( XE + e 2 + d S q 5 S ) + ( ZE q 5 + d C ) + ( YE d C S )
2 2 2

( 2 X E 2 e2 + 2d S S )

a 2 + b 2 2 2