Overview of selected teleoperation positioning systems for controlling a robot arm operating in Remote Centre of Motion (RCM) mode

This paper describes partial results of ongoing research at the Department of Automatic Control and Robotics Faculty of Electrical Engineering, Bialystok University of Technology, Poland, in the field of application of industrial robots for the improvement of robotic surgical procedures by the docto...

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Bibliographic Details
Main Authors: Trochimczuk, Roman, Wolniakowski, Adam, Cheng, Zhuoqi, Romaniuk, Slawomir, Tomaszewski, Radoslaw
Format: Conference Proceeding
Language:English
Subjects:
Collaborative robots
Companies
digital twin
force feedback
learning by demonstration
Medical robotics
Planning
positioning
remote centre of motion
Service robots
Surgery
surgical robot
teleoperation
Training
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Summary:This paper describes partial results of ongoing research at the Department of Automatic Control and Robotics Faculty of Electrical Engineering, Bialystok University of Technology, Poland, in the field of application of industrial robots for the improvement of robotic surgical procedures by the doctors, analogous to procedures performed on expensive surgical systems class of the Da Vinci system from the Intuitive Surgical Company. Selected issues related to force feedback teleoperation are discussed. The problem of positioning the surgical instrument (the tool of a surgical robot) in remote centre of motion mode was defined. Developed applications controlling the UR5 industrial cobot from company Universal Robots in teleoperation mode were discussed: definition of application problems on the industrial cobot platform, used and custom-built subsystems for positioning and learning by demonstration.
ISSN:2835-2807
DOI:10.1109/MMAR62187.2024.10680787