A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces
A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces
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DOI：
10.1109/icra.2019.8794363
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发表时间：
2018-09
期刊：
影响因子：
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通讯作者：
M. M. Marinho-M.;Bruno Vilhena Adorno;K. Harada;Kyoichi Deie;A. Deguet;P. Kazanzides;R. Taylor;M. Mitsuishi
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文献类型：
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作者：
M. M. Marinho-M.;Bruno Vilhena Adorno;K. Harada;Kyoichi Deie;A. Deguet;P. Kazanzides;R. Taylor;M. Mitsuishi
在成人腹腔镜检查中，由于机器人工具提高了灵活性，机器人辅助手术已在全球数千个手术室中成为现实。许多机器人和机器人控制技术已被开发出来，以帮助应对更具挑战性的场景，例如儿科手术和显微外科手术。然而，特定案例解决方案的盛行，特别是那些专注于非冗余机器人的解决方案，降低了更具挑战性的场景中初始结果的可重复性。在本文中，我们提出了一个在远程操作下受限工作空间中控制手术机器人的通用框架，无论机器人几何形状如何。我们的技术分为从属端约束优化算法，它提供虚拟夹具，并在主端使用笛卡尔阻抗来提供力反馈。使用两种机器人系统（一种冗余和一种非冗余）进行的实验表明，在成人腹腔镜手术和婴儿手术中可以实现顺利的远程操作。
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.