Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery
Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery
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DOI：
10.1109/lra.2018.2812907
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发表时间：
2018-03
影响因子：
5.2
通讯作者：
Pierre Berthet-Rayne;K. Leibrandt;Gauthier Gras;P. Fraisse;A. Crosnier;Guang-Zhong Yang
中科院分区：
文献类型：
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作者：
Pierre Berthet-Rayne;K. Leibrandt;Gauthier Gras;P. Fraisse;A. Crosnier;Guang-Zhong Yang
冗余蛇形机器人在主从结构下的微创手术实时遥操作是一个复杂的问题。在主机器人的标准6自由度（DOF）和冗余的从机器人（通常为$n \gg \ 6$ DOF）之间存在许多可能的映射。这封信介绍了一种用于耳、鼻、喉手术的蛇形机器人。机器人的结构由$n = 26$关节变量组成。研究了6种不同的控制方法。通过仿真和用户研究，对这些方法进行了比较。每个参与者使用六种不同的控制方法中的每一种来执行相同的任务。基于所选择的指标，稀疏伪l $_{0}$和我们提出的方法在直观性、实时性和总体占用量方面表现更好。
The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master–slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with $n \gg \ 6$ DOF. This letter introduces a snakelike robot for ear, nose, and throat surgery. The robot's architecture is comprised of $n = 26$ joint variables. Six different control methods were investigated. The methods are compared through simulation with a user study. Each participant performed the same task using each of the six different control methods. Based on the metrics selected, the sparse pseudo-L $_{0}$ and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.