A programmable remote center-of-motion controller for minimally invasive surgery using the dual quaternion framework

Murilo M. Marinho, Mariana C. Bernardes, Antônio P.L. Bó

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Within robotic-aided laparoscopy, one important research topic concerns the teleoperation of open chain serial link manipulators. As opposed to specialized surgical robots, a serial robot might be used for different procedures with small changes on the setup, lowering the involved costs and possibly increasing the acceptance of robotic systems in clinical settings. However, such robots do not present kinematic constraints that guarantee that the tool movements are projected on the pivoting point defined by the incision (RCM). In such scenario, the RCM must be assured by software. This paper presents a novel control strategy for laparoscopic tools attached to robotic manipulators that makes use of a programmable RCM. The tool movement references are generated intuitively by the surgeon, while the RCM is maintained by software using a dual quaternion-based kinematic controller. The method is evaluated in a simulated surgical environment and presented satisfactory results, both in terms of RCM control, tool positioning, and good performance under human operation.

Original languageEnglish
Title of host publication"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
EditorsRaffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
PublisherIEEE Computer Society
Pages339-344
Number of pages6
ISBN (Electronic)9781479931262
DOIs
Publication statusPublished - 30 Sept 2014
Event5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil
Duration: 12 Aug 201415 Aug 2014

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Conference

Conference5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Country/TerritoryBrazil
CitySao Paulo
Period12/08/1415/08/14

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