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Hybrid stiff/compliant workspace control for robotized minimally invasive surgery

P. From,J. Cho,A. Robertsson,T. Nakano,M. G. Ardakani,Rolf Johansson

Published 2014 in 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

ABSTRACT

This paper presents a novel control architecture for hybrid stiff and compliant control for minimally invasive surgery which satisfies the constraints of zero lateral velocity at the entry point for serial manipulators. For minimally invasive surgery it is required that there is no sideways motion at the point where the robots enter the abdomen. This is necessary to avoid any damage to the patient's body when the robot moves. We solve this at a kinematic level, i.e., we find a Jacobian matrix that maps the velocities in joint space to the end-effector velocities and at the same time guarantees that certain velocities at the entry point are zero. Because the new velocity variables are defined in the end-effector workspace we can use these for hybrid motion/force control. The approach is verified experimentally by implementing hybrid stiff and compliant control of the end effector and we show that the insertion point constraints are always satisfied.

PUBLICATION RECORD

  • Publication year

    2014

  • Venue

    5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

  • Publication date

    2014-08-01

  • Fields of study

    Medicine, Computer Science, Engineering

  • Identifiers
    DOI 10.1109/BIOROB.2014.6913800
  • External record

    Open on Semantic Scholar

  • Source metadata

    Semantic Scholar

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