TY - GEN
T1 - A constrained optimization approach to virtual fixtures
AU - Li, Ming
AU - Kapoor, Ankur
AU - Taylor, Russell H.
PY - 2005
Y1 - 2005
N2 - We describe a new method to generate virtual fixtures for surgical robot control which provide sophisticated ways to assist the surgeon. Different spatial motion constraints for human machine collaborative systems can be implemented by using this method if we know the required geometric constraints and the instantaneous kinematics of the robot. It is independent of manipulator types: teleoperative or cooperative controlled; admittance or impedance type. Our method uses weighted, linearized, multi-objective optimization framework to formalize a library of virtual fixtures for task primitives. We set the cost function based on the user's inputs, and set linearized subject function based on a combination of five basic geometric constraints. In this paper, we also illustrate the implementation for two sample tasks, which are useful for surgical applications, and provide the experimental results for these tasks.
AB - We describe a new method to generate virtual fixtures for surgical robot control which provide sophisticated ways to assist the surgeon. Different spatial motion constraints for human machine collaborative systems can be implemented by using this method if we know the required geometric constraints and the instantaneous kinematics of the robot. It is independent of manipulator types: teleoperative or cooperative controlled; admittance or impedance type. Our method uses weighted, linearized, multi-objective optimization framework to formalize a library of virtual fixtures for task primitives. We set the cost function based on the user's inputs, and set linearized subject function based on a combination of five basic geometric constraints. In this paper, we also illustrate the implementation for two sample tasks, which are useful for surgical applications, and provide the experimental results for these tasks.
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U2 - 10.1109/IROS.2005.1545420
DO - 10.1109/IROS.2005.1545420
M3 - Conference contribution
AN - SCOPUS:33947402992
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 1408
EP - 1413
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
ER -