TY - GEN
T1 - A unified framework for the teleoperation of surgical robots in constrained workspaces
AU - Marinho, Murilo M.
AU - Adorno, Bruno V.
AU - Harada, Kanako
AU - Deie, Kyoichi
AU - Deguet, Anton
AU - Kazanzides, Peter
AU - Taylor, Russell H.
AU - Mitsuishi, Mamoru
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more challenging scenarios, such as pediatric surgery and microsurgery. However, the prevalence of case-specific solutions, particularly those focused on non-redundant robots, reduces the reproducibility of the initial results in more challenging scenarios. In this paper, we propose a general framework for the control of surgical robotics in constrained workspaces under teleoperation, regardless of the robot geometry. Our technique is divided into a slave-side constrained optimization algorithm, which provides virtual fixtures, and with Cartesian impedance on the master side to provide force feedback. Experiments with two robotic systems, one redundant and one non-redundant, show that smooth teleoperation can be achieved in adult laparoscopy and infant surgery.
AB - In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more challenging scenarios, such as pediatric surgery and microsurgery. However, the prevalence of case-specific solutions, particularly those focused on non-redundant robots, reduces the reproducibility of the initial results in more challenging scenarios. In this paper, we propose a general framework for the control of surgical robotics in constrained workspaces under teleoperation, regardless of the robot geometry. Our technique is divided into a slave-side constrained optimization algorithm, which provides virtual fixtures, and with Cartesian impedance on the master side to provide force feedback. Experiments with two robotic systems, one redundant and one non-redundant, show that smooth teleoperation can be achieved in adult laparoscopy and infant surgery.
UR - http://www.scopus.com/inward/record.url?scp=85071492304&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071492304&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8794363
DO - 10.1109/ICRA.2019.8794363
M3 - Conference contribution
AN - SCOPUS:85071492304
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2721
EP - 2727
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -