A unified framework for the teleoperation of surgical robots in constrained workspaces

Murilo M. Marinho, Bruno V. Adorno, Kanako Harada, Kyoichi Deie, Anton Deguet, Peter Kazanzides, Russell H. Taylor, Mamoru Mitsuishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more challenging scenarios, such as pediatric surgery and microsurgery. However, the prevalence of case-specific solutions, particularly those focused on non-redundant robots, reduces the reproducibility of the initial results in more challenging scenarios. In this paper, we propose a general framework for the control of surgical robotics in constrained workspaces under teleoperation, regardless of the robot geometry. Our technique is divided into a slave-side constrained optimization algorithm, which provides virtual fixtures, and with Cartesian impedance on the master side to provide force feedback. Experiments with two robotic systems, one redundant and one non-redundant, show that smooth teleoperation can be achieved in adult laparoscopy and infant surgery.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2721-2727
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 1 2019
Externally publishedYes
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'A unified framework for the teleoperation of surgical robots in constrained workspaces'. Together they form a unique fingerprint.

  • Cite this

    Marinho, M. M., Adorno, B. V., Harada, K., Deie, K., Deguet, A., Kazanzides, P., Taylor, R. H., & Mitsuishi, M. (2019). A unified framework for the teleoperation of surgical robots in constrained workspaces. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 2721-2727). [8794363] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794363