Suturing in confined spaces: Constrained motion control of a hybrid 8-DoF robot

Ankur Kapoor, Nabil Simaan, Russell H. Taylor

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

Abstract

We present our work on developing and testing the high-level control for a future tele-robotic system for minimally invasive surgery of the throat and upper airways. As a test-bed for these experiments, we used a hybrid 8 Degrees-of-Freedom (DoF) experimental robot composed of a six DoF robot and a two DoF snake-like unit. The kinematics and weighted redundancy resolution to support suturing in confined spaces, such as the throat, is developed and experimental validation in presented. The kinematics of the hybrid system is described in an 8-dimensional augmented vector space composed from the joint variables of the six DoF robot and two angles describing the configuration of the snake-like unit. Then a weighted, multi objective, optimization framework is used to perform the suturing operation under the assumption of a predefined suture geometry while satisfying joint limits, torque constraints, and minimizing extraneous motions of the system joints.

Original languageEnglish (US)
Title of host publication2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Pages452-459
Number of pages8
DOIs
StatePublished - 2005
Event12th International Conference on Advanced Robotics, 2005. ICAR '05 - Seattle, WA, United States
Duration: Jul 18 2005Jul 20 2005

Publication series

Name2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Volume2005

Other

Other12th International Conference on Advanced Robotics, 2005. ICAR '05
CountryUnited States
CitySeattle, WA
Period7/18/057/20/05

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Suturing in confined spaces: Constrained motion control of a hybrid 8-DoF robot'. Together they form a unique fingerprint.

Cite this