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 - Funding Information:
This work was funded in part by the ImPACT Program of the Council for Science, Technology and Innovation (Cabinet Office, Government of Japan), in part by NSF grant 1637789, and in part by Johns Hopkins internal funds.
Funding Information:
Murilo M. Marinho’s Ph.D. was supported by the Japanese Ministry of Education, Culture, Sports, Science, and Technology (MEXT). His stay in Johns Hopkins University was supported by the Graduate Program for Mechanical Systems Innovation (GMSI), from the University of Tokyo Bruno V. Adorno is with the Federal University of Minas Gerais, Brazil. Email: [email protected]. He has been supported by the Brazilian agencies CAPES, CNPq (grants 424011/2016-6 and 303901/2018-7), FAPEMIG, and by the INCT (National Institute of Science and Technology) under the CNPq grant 465755/2014-3.
Publisher Copyright:
© 2019 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
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.
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 - IEEE
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -