Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2018-07, Vol.3 (3), p.2501-2508
Main Authors: Berthet-Rayne, Pierre, Leibrandt, Konrad, Gras, Gauthier, Fraisse, Philippe, Crosnier, Andre, Guang-Zhong Yang
Format: Article
Language:English
Subjects:
Automatic
Control methods
Degrees of freedom
DH-HEMTs
Engineering Sciences
Inverse kinematics
Jacobian matrices
Joints
Kinematics
Laparoscopy
Medical robots and systems
Navigation
Real time
Redundancy
redundant robots
Robots
Surgery
surgical robotics: laparoscopy
telerobotics and teleoperation
Telesurgery
tendon/wire mechanism
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Summary:The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6 DOF. This letter introduces a snakelike robot for ear, nose, and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different control methods were investigated. The methods are compared through simulation with a user study. Each participant performed the same task using each of the six different control methods. Based on the metrics selected, the sparse pseudo-L 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2018.2812907