Name
Title | ||
|---|---|---|
A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures |
Abstract | ||
|---|---|---|
The restriction of feasible motions of a manipulator link constrained to move through an entry port is a common problem in minimally invasive surgery procedures. Additional spatial restrictions are required to ensure the safety of sensitive regions from unintentional damage. In this work, we design a target admittance model that is proved to enforce robot tool manipulation by a human through a remote center of motion and to guarantee that the tool will never enter or touch forbidden regions. The control scheme is proved passive under the exertion of a human force ensuring manipulation stability, and smooth natural motion in hands-on surgical procedures enhancing the user’s feeling of control over the task. Its performance is demonstrated by experiments with a setup mimicking a hands-on surgical procedure comprising a KUKA LWR4+ and a virtual intraoperative environment. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1016/j.robot.2022.104073 | Robotics and Autonomous Systems |
Keywords | DocType | Volume |
Physical Human–Robot Interaction,RCM manipulation,Active constraints,Surgical robots,Variable damping | Journal | 152 |
ISSN | Citations | PageRank |
0921-8890 | 0 | 0.34 |
References | Authors | |
0 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Theodora Kastritsi | 1 | 1 | 1.36 |
| Zoe Doulgeri | 2 | 0 | 0.34 |