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Hybrid Stiff/Compliant Workspace Control for Robotized Minimally Invasive Surgery

From, Pål Johan LU ; Cho, Jang Ho LU ; Robertsson, Anders LU ; Nakano, Tomohiro ; Ghazaei, Mahdi LU and Johansson, Rolf LU (2014) 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics p.345-351
Abstract
This paper presents a novel control architecture for hybrid stiff and compliant control for minimally invasive surgery which satisfies the constraints of zero lateral velocity at the entry point for serial manipulators. For minimally invasive surgery it is required that there is no sideways motion at the point where the robots enter the abdomen. This is necessary to avoid any damage to the patient's body when the robot moves. We solve this at a kinematic level, i.e., we find a Jacobian matrix that maps the velocities in joint space to the end-effector velocities and at the same time guarantees that certain velocities at the entry point are zero. Because the new velocity variables are defined in the end-effector workspace we can use these... (More)
This paper presents a novel control architecture for hybrid stiff and compliant control for minimally invasive surgery which satisfies the constraints of zero lateral velocity at the entry point for serial manipulators. For minimally invasive surgery it is required that there is no sideways motion at the point where the robots enter the abdomen. This is necessary to avoid any damage to the patient's body when the robot moves. We solve this at a kinematic level, i.e., we find a Jacobian matrix that maps the velocities in joint space to the end-effector velocities and at the same time guarantees that certain velocities at the entry point are zero. Because the new velocity variables are defined in the end-effector workspace we can use these for hybrid motion/force control. The approach is verified experimentally by implementing hybrid stiff and compliant control of the end effector and we show that the insertion point constraints are always satisfied. (Less)
Please use this url to cite or link to this publication:
author
; ; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Aerospace electronics, End effectors, Jacobian matrices, Joints, Kinematics, Wrist
host publication
Proc. 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), August 12-15, 2014. São Paulo, Brazil
pages
7 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
conference location
Sao Paulo, Brazil
conference dates
2014-08-12
external identifiers
  • scopus:84918542518
ISSN
2155-1774
ISBN
978-1-4799-3126-2
DOI
10.1109/BIOROB.2014.6913800
project
LU Robotics Laboratory
LCCC
language
English
LU publication?
yes
id
219326fa-7135-4f70-b503-64c9e22f48f5 (old id 5154381)
date added to LUP
2016-04-01 14:21:39
date last changed
2020-11-16 05:20:25
@inproceedings{219326fa-7135-4f70-b503-64c9e22f48f5,
  abstract     = {This paper presents a novel control architecture for hybrid stiff and compliant control for minimally invasive surgery which satisfies the constraints of zero lateral velocity at the entry point for serial manipulators. For minimally invasive surgery it is required that there is no sideways motion at the point where the robots enter the abdomen. This is necessary to avoid any damage to the patient's body when the robot moves. We solve this at a kinematic level, i.e., we find a Jacobian matrix that maps the velocities in joint space to the end-effector velocities and at the same time guarantees that certain velocities at the entry point are zero. Because the new velocity variables are defined in the end-effector workspace we can use these for hybrid motion/force control. The approach is verified experimentally by implementing hybrid stiff and compliant control of the end effector and we show that the insertion point constraints are always satisfied.},
  author       = {From, Pål Johan and Cho, Jang Ho and Robertsson, Anders and Nakano, Tomohiro and Ghazaei, Mahdi and Johansson, Rolf},
  booktitle    = {Proc. 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), August 12-15, 2014. São Paulo, Brazil},
  isbn         = {978-1-4799-3126-2},
  issn         = {2155-1774},
  language     = {eng},
  pages        = {345--351},
  publisher    = {IEEE - Institute of Electrical and Electronics Engineers Inc.},
  title        = {Hybrid Stiff/Compliant Workspace Control for Robotized Minimally Invasive Surgery},
  url          = {http://dx.doi.org/10.1109/BIOROB.2014.6913800},
  doi          = {10.1109/BIOROB.2014.6913800},
  year         = {2014},
}