A Controller to Impose a RCM for Hands-on Robotic-Assisted Minimally Invasive Surgery

Kastritsi, Theodora; Doulgeri, Zoe

doi:10.1109/tmrb.2021.3077319

Cited by 17 publications

(18 citation statements)

References 32 publications

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“…Its transfer to a real robot requires a robot with a torque interface and accurate knowledge of the dynamic parameters which is difficult in the majority of cases. To deal with this problem we have proposed an admittance control scheme in [14] ensuring passivity and manipulation of long instruments via a RCM. Methods proposed for teleoperated or autonomous operation cannot be directly applied in hands-on procedures particularly those proposing first order inverse kinematic solutions.…”

Section: Related Workmentioning

confidence: 99%

“…In this work, we address the problem of satisfying both RCM and forbidden region constraints via a novel admittance control design. A combination of our previous works [14] on RCM constraint and forbidden region constraint satisfaction [9], [33] produces a system that is not passive and consequently it cannot guarantee stability. In fact, we faced various stability problems when we had initially experimented with this control combination.…”

Section: Contributionsmentioning

confidence: 99%

“…(i) The main novelty resides in the proposed mapping between the joint velocities and the free motion coordinates which differs from that of [14]. This novel mapping enables passivity to be proved in the presence of repulsive potential and it allows free motion coordinates to be defined in correspondence to the force components in a decoupled, independent way.…”

Section: Contributionsmentioning

confidence: 99%

“…The resulted motion is thus intuitive, enhancing transparency of manipulation. In contrast, the respective mapping in [14], generates free coordinatecouplings leading to counter intuitive motion.…”

Section: Contributionsmentioning

confidence: 99%

“…These constraints can be known analytically [1][2][3][4][5][6], can be generated utilizing Dynamic Movement Primitives that encode the demonstration trajectory [7,8] or provided as point clouds produced by the perception system [9][10][11][12]. RCM enforcement schemes are mainly proposed for robotic assisted minimal invasive surgery (RAMIS) [12][13][14][15][16][17][18][19][20][21][22][23][24][25][26]. The proposed target admittance model is designed in a way that decouples the robot's joint space into the RCM constrained and unconstrained subspace so that RCM constraints are satisfied during tool manipulation and the control action that guarantees manipulation away from the forbidden regions acts only along the RCM unconstrained directions.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

Kastritsi

Doulgeri

2022

Robotics and Autonomous Systems

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Section: Related Workmentioning

confidence: 99%

Section: Contributionsmentioning

confidence: 99%

Section: Contributionsmentioning

confidence: 99%

Section: Contributionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

Kastritsi

Doulgeri

2022

Robotics and Autonomous Systems

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An admittance‐controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system

Nie

Duan

et al. 2022

Robotics Computer Surgery

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Background The accurate sensing and display of the delicate needle‐tissue interaction force to the operator is desirable for needle insertion procedures. It not only plays a significant role in the surgical treatment effect, but also has a great significance in improving surgical safety and reducing the incidence of complications. However, the direct detection of the interaction force between the tissue and needle tip by placement of a force sensor is challenging owing to the constraints of miniaturisation, cost, and sterilisation. Methods In this study, a new position‐based force‐to‐motion controller with magnified force feedback is presented to provide augmented force perception to the operator during needle insertion on the soft tissue. Furthermore, the demonstration to the position‐based low level motion controller is more suitable for needle insertion surgical requirements in the cooperative robotic system. Results The proposed controller was experimentally validated by a collaborative lumbar puncture robotics system. Additionally, to provide hand tremor rejection for the stable manipulation of the puncture needle, it was demonstrated that the proposed amplified feedback force controller allowed a safer object interaction with the robotic needle insertion assistance. Conclusions The results of the experiment show that a desirable interaction force profile is perceived by the operator during the overall insertion task operation. The admittance gain for the simplified admittance controller has a significant impact on the operator's ability to accurately control the applied force.

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State of the art in movement around a remote point: a review of remote center of motion in robotics

Zhang,

Wang,

et al. 2024

Front. Mech. Eng.

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The concept of remote center of motion (RCM) is pivotal in a myriad of robotic applications, encompassing areas such as medical robotics, orientation devices, and exoskeletal systems. The efficacy of RCM technology is a determining factor in the success of these robotic domains. This paper offers an exhaustive review of RCM technologies, elaborating on their various methodologies and practical implementations. It delves into the unique characteristics of RCM across different degrees of freedom (DOFs), aiming to distill their fundamental principles. In addition, this paper categorizes RCM approaches into two primary classifications: design based and control based. These are further organized according to their respective DOFs, providing a concise summary of their core methodologies. Building upon the understanding of RCM’s versatile capabilities, this paper then transitions to an in-depth exploration of its applications across diverse robotic fields. Concluding this review, we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their applications. This discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.

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A Controller to Impose a RCM for Hands-on Robotic-Assisted Minimally Invasive Surgery

Cited by 17 publications

References 32 publications

A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

An admittance‐controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system

State of the art in movement around a remote point: a review of remote center of motion in robotics

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