Title | ||
---|---|---|
Kinematic control of redundant arms based on the virtual incision ports for robotic single-port access surgery |
Abstract | ||
---|---|---|
This paper presents a novel kinematic control scheme based on the Virtual Incision Ports (VIPs) for redundancy resolution of redundant robotic arms for single-port access (SPA) surgery. In general, manipulators have 6 DoFs except grippers to be able to reach the desired pose in 3D space. If a surgical robot for SPA surgery has only 6 DoFs, then its workspace could be restricted severely. Therefore most robots including our developed robot consist of more than 6 DoFs with an elbow to maintain triangulation. This means they have a redundancy resolution problem. One of the most popular methods for a redundancy resolution is a pseudo-inverse Jacobian method [1]. In case of robotic SPA surgery, however, this method intrinsically has a high possibility for hurting abdominal organs and muscles or conflicting with other instruments because of the unexpected elbow movements. Our control scheme can decrease the possibility of a collision with them and provide a more flexible working area for surgical tasks by reallocating the VIP. Results presented from simulation and experiment will demonstrate them. |
Year | DOI | Venue |
---|---|---|
2014 | 10.1109/ICRA.2014.6907466 | ICRA |
Keywords | DocType | Volume |
virtual incision ports,muscles,medical robotics,abdominal organs,collision reduction,redundancy resolution,robotic single-port access surgery,pseudo-inverse Jacobian method,redundant manipulators,VIP,grippers,manipulator kinematics,elbow movement,collision avoidance,SPA surgery,surgery,kinematic control scheme,redundant robotic arms | Conference | 2014 |
Issue | ISSN | Citations |
1 | 1050-4729 | 1 |
PageRank | References | Authors |
0.38 | 1 | 4 |
Name | Order | Citations | PageRank |
---|---|---|---|
Junwon Jang | 1 | 5 | 2.48 |
Hyundo Choi | 2 | 7 | 3.33 |
Hyung Joo Kim | 3 | 36 | 2.84 |
Ho-Seong Kwak | 4 | 5 | 0.99 |