Constrained control for surgical assistant robots

Ankur Kapoor, Ming Li, Russell H. Taylor

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

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 languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages231-236
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

ASJC Scopus subject areas

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

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