Constrained control for surgical assistant robots

Ankur Kapoor; Ming Li; Russell H. Taylor

doi:10.1109/ROBOT.2006.1641189

Constrained control for surgical assistant robots

Ankur Kapoor, Ming Li, Russell H. Taylor

Whiting School of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

53 Scopus citations

Abstract

This paper presents an approach to implement virtual fixtures for surgical robot assistants. Our approach uses a weighted, multi-objective (both linear and nonlinear) constrained optimization framework to formalize a library of virtual fixtures for task primitives. By our formulation, we provide a library of virtual fixtures on task primitives and a way to assemble multiple virtual fixture objects. We implement the constrained optimization problem with both linear and nonlinear constraints, and discuss the trade-offs between them. Moreover, we introduce the notion of "soft" virtual fixture mechanism for robotic surgical assistance. The "soft" virtual fixtures enable a surgical tool to have some resistance inside safety regions and no resistance in preferred regions.

Original language	English (US)
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	231-236
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1641189
State	Published - 2006
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Other

Other	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	5/15/06 → 5/19/06

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ROBOT.2006.1641189

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Constrained control for surgical assistant robots. / Kapoor, Ankur; Li, Ming; Taylor, Russell H.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 231-236 1641189 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kapoor, A, Li, M & Taylor, RH 2006, Constrained control for surgical assistant robots. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641189, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 231-236, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1641189

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Constrained control for surgical assistant robots

Abstract

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