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Hybrid Stiff/Compliant Workspace Control for Robotized Minimally Invasive Surgery

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Author

Summary, in English

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.

Publishing year

2014

Language

English

Pages

345-351

Publication/Series

Proc. 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), August 12-15, 2014. São Paulo, Brazil

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Keywords

  • Aerospace electronics
  • End effectors
  • Jacobian matrices
  • Joints
  • Kinematics
  • Wrist

Conference name

5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

Conference date

2014-08-12

Conference place

Sao Paulo, Brazil

Status

Published

Project

  • LU Robotics Laboratory
  • LCCC

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 2155-1774
  • ISBN: 978-1-4799-3126-2