Development and Experimental Evaluation of Concurrent Control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment

Paul Wilkening, Farshid Alambeigi, Ryan J. Murphy, Russell H. Taylor, Mehran Armand

Research output: Contribution to journalArticle


This letter presents the development and evaluation of concurrent control of a robotic system for less-invasive treatment of osteolytic lesions behind an acetabular implant. This system implements safety constraints including a remote center of motion, virtual walls, and joint limits while operating through the screw holes of the acetabular implant. The formulated linear constrained optimization problem ensures these constraints are satisfied while maintaining precise control of the tip of a Continuum Dexterous Manipulator attached to a positioning robot. Experiments evaluated the performance of the tip control method within an acetabular cup. The controller reliably reached a series of goal points with a mean error of 0.42 mm and a worst-case error of straying 1.0 mm from our path.

Original languageEnglish (US)
Article number7872381
Pages (from-to)1625-1631
Number of pages7
JournalIEEE Robotics and Automation Letters
Issue number3
StatePublished - Jul 2017



  • Dexterous manipulation
  • medical robots and systems
  • optimization and optimal control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence

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