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
Volume2005
DOIs
StatePublished - 2005
Event12th International Conference on Advanced Robotics, 2005. ICAR '05 - Seattle, WA, United States
Duration: Jul 18 2005Jul 20 2005

Other

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

Fingerprint

Motion control
Robots
Kinematics
Level control
Vector spaces
Multiobjective optimization
Hybrid systems
Surgery
Redundancy
Robotics
Torque
Geometry
Testing
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kapoor, A., Simaan, N., & Taylor, R. H. (2005). Suturing in confined spaces: Constrained motion control of a hybrid 8-DoF robot. In 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings (Vol. 2005, pp. 452-459). [1507449] https://doi.org/10.1109/ICAR.2005.1507449

Suturing in confined spaces : Constrained motion control of a hybrid 8-DoF robot. / Kapoor, Ankur; Simaan, Nabil; Taylor, Russell H.

2005 International Conference on Advanced Robotics, ICAR '05, Proceedings. Vol. 2005 2005. p. 452-459 1507449.

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

Kapoor, A, Simaan, N & Taylor, RH 2005, Suturing in confined spaces: Constrained motion control of a hybrid 8-DoF robot. in 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings. vol. 2005, 1507449, pp. 452-459, 12th International Conference on Advanced Robotics, 2005. ICAR '05, Seattle, WA, United States, 7/18/05. https://doi.org/10.1109/ICAR.2005.1507449
Kapoor A, Simaan N, Taylor RH. Suturing in confined spaces: Constrained motion control of a hybrid 8-DoF robot. In 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings. Vol. 2005. 2005. p. 452-459. 1507449 https://doi.org/10.1109/ICAR.2005.1507449
Kapoor, Ankur ; Simaan, Nabil ; Taylor, Russell H. / Suturing in confined spaces : Constrained motion control of a hybrid 8-DoF robot. 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings. Vol. 2005 2005. pp. 452-459
@inproceedings{270d794a0724422db31e4bd9c79eb644,
title = "Suturing in confined spaces: Constrained motion control of a hybrid 8-DoF robot",
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.",
author = "Ankur Kapoor and Nabil Simaan and Taylor, {Russell H}",
year = "2005",
doi = "10.1109/ICAR.2005.1507449",
language = "English (US)",
isbn = "0780391772",
volume = "2005",
pages = "452--459",
booktitle = "2005 International Conference on Advanced Robotics, ICAR '05, Proceedings",

}

TY - GEN

T1 - Suturing in confined spaces

T2 - Constrained motion control of a hybrid 8-DoF robot

AU - Kapoor, Ankur

AU - Simaan, Nabil

AU - Taylor, Russell H

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=33749052905&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33749052905&partnerID=8YFLogxK

U2 - 10.1109/ICAR.2005.1507449

DO - 10.1109/ICAR.2005.1507449

M3 - Conference contribution

AN - SCOPUS:33749052905

SN - 0780391772

SN - 9780780391772

VL - 2005

SP - 452

EP - 459

BT - 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings

ER -