Impedance and admittance control for respiratory‐motion compensation during robotic needle insertion – a preliminary test

Kim, Yeoun-Jae; Seo, Jong Hyun; Kim, Kwang Gi

doi:10.1002/rcs.1795

Cited by 13 publications

(7 citation statements)

References 31 publications

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“…This task is a form of shared autonomy (see Section 3.2) using which robots can utilize computer vision to compensate for the repetitive motions [12,199,203,[206][207][208]. This will significantly increase the accuracy of the operation since it significantly reduces the mental, cognitive, and physical load on the surgeons during operation [10,11,200,[209][210][211][212].…”

Section: Motor Augmentation Through Sl/sf Telerobotic Surgerymentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

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The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.

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Section: Motor Augmentation Through Sl/sf Telerobotic Surgerymentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

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“…Interactions with the environment are usually considered passive while the human is an active agent who intends to inject energy into the system. The literature on variable compliance control offers different approaches where the controller adapts to detected human intentions (Lecours et al 2012;Kim et al 2017;Ranatunga et al 2015;Corteville et al 2007). However, such works are limited to a single role for the robot, and human-interaction detection is not used to switch from leader to follower.…”

Section: Related Workmentioning

confidence: 99%

A dynamical system approach for detection and reaction to human guidance in physical human–robot interaction

Khoramshahi

Billard

2020

Auton Robot

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A seamless interaction requires two robotic behaviors: the leader role where the robot rejects the external perturbations and focuses on the autonomous execution of the task, and the follower role where the robot ignores the task and complies with human intentional forces. The goal of this work is to provide (1) a unified robotic architecture to produce these two roles, and (2) a human-guidance detection algorithm to switch across the two roles. In the absence of human-guidance, the robot performs its task autonomously and upon detection of such guidances the robot passively follows the human motions. We employ dynamical systems to generate task-specific motion and admittance control to generate reactive motions toward the human-guidance. This structure enables the robot to reject undesirable perturbations, track the motions precisely, react to human-guidance by providing proper compliant behavior, and re-plan the motion reactively. We provide analytical investigation of our method in terms of tracking and compliant behavior. Finally, we evaluate our method experimentally using a 6-DoF manipulator.

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“…In contrast to pure motion control, which rejects disturbance forces to track a given motion reference trajectory, admittance control attempts to comply robot motion with environment interaction and react quickly to measured interaction forces by rapidly modifying the robot's reference velocity [17]. This approach has become popular in recent robot interaction applications such as robotic surgery [13], human-robot cooperation [10], and rehabilitation and therapy robotics [12]. Tuning admittance controllers is challenging because performance depends on the coupled interaction between a robot and a changing environment, which is difficult to model and identify correctly [18].…”

Section: Related Workmentioning

confidence: 99%

Iterative Learning-Based Admittance Control for Autonomous Excavation

Fernando

Marshall

Larsson

2019

J Intell Robot Syst

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This paper presents the development and field validation of an iterative learning-based admittance control algorithm for autonomous excavation in fragmented rock using robotic wheel loaders. An admittance control strategy is augmented with iterative learning, which automatically updates control parameters based on the error between a target bucket fill weight and the measured fill weight at the end of each excavation pass. The algorithm was validated through full-scale autonomous excavation experiments with a 14-tonne capacity load-hauldump (LHD) machine and two different types of excavation materials: fragmented rock and gravel. In both excavation scenarios, the iterative learning algorithm is able to update the admittance control parameters for a specified target bucket fill weight, eliminating the need to manually re-tune control parameters as material

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Impedance and admittance control for respiratory‐motion compensation during robotic needle insertion – a preliminary test

Abstract: The impedance and admittance control algorithms can be applied for respiratory-motion compensation during robotic needle insertion. However, further study is needed for them to become clinically feasible.

Cited by 13 publications

References 31 publications

Review of Advanced Medical Telerobots

Review of Advanced Medical Telerobots

A dynamical system approach for detection and reaction to human guidance in physical human–robot interaction

Iterative Learning-Based Admittance Control for Autonomous Excavation

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