TY - GEN
T1 - A constrained optimization approach to virtual fixtures for multi-robot collaborative teleoperation
AU - Xia, Tian
AU - Kapoor, Ankur
AU - Kazanzides, Peter
AU - Taylor, Russell
PY - 2011
Y1 - 2011
N2 - This paper presents a constrained optimization framework that enables the implementation of multi-robot constraints, as virtual fixtures, to assist human operators, in a teleoperated scenario. The collaborative constraints guide the motion of multiple robots such that the spatial and temporal relationships are maintained between them, while following human input motion objectives. We demonstrate this control architecture for the task of manipulating a surgical knot to a target point. The teleoperation system uses four arms from a da Vinci Surgical System® (two master manipulators and two slave manipulators), with custom electronics and software. It extends previous work, which focused on a cooperatively controlled system where the motions of two robots were directly controlled by user-applied forces. Our current system enables us to effectively evaluate the accuracy of the knot positioning task and completion time in a clinically realistic setup for Minimally Invasive Surgery.
AB - This paper presents a constrained optimization framework that enables the implementation of multi-robot constraints, as virtual fixtures, to assist human operators, in a teleoperated scenario. The collaborative constraints guide the motion of multiple robots such that the spatial and temporal relationships are maintained between them, while following human input motion objectives. We demonstrate this control architecture for the task of manipulating a surgical knot to a target point. The teleoperation system uses four arms from a da Vinci Surgical System® (two master manipulators and two slave manipulators), with custom electronics and software. It extends previous work, which focused on a cooperatively controlled system where the motions of two robots were directly controlled by user-applied forces. Our current system enables us to effectively evaluate the accuracy of the knot positioning task and completion time in a clinically realistic setup for Minimally Invasive Surgery.
UR - http://www.scopus.com/inward/record.url?scp=84455160600&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455160600&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048816
DO - 10.1109/IROS.2011.6048816
M3 - Conference contribution
AN - SCOPUS:84455160600
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 639
EP - 644
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -