Introducing some form of autonomy in robotic surgery is being considered by the medical community to better exploit the potential of robots in the operating room. However, significant technological steps have to occur before even the smallest autonomous task is ready to be presented to the regulatory authorities. In this paper, we address the initial steps of this process, in particular the development of control concepts satisfying the basic safety requirements of robotic surgery, i.e., providing the robot with the necessary dexterity and a stable and smooth behavior of the surgical tool. Two specific situations are considered: the automatic adaptation to changing tissue stiffness and the transition from autonomous to teleoperated mode. These situations replicate real-life cases when the surgeon adapts the stiffness of her/his arm to penetrate tissues of different consistency and when, due to an unexpected event, the surgeon has to take over the control of the surgical robot. To address the first case, we propose a passivity-based interactive control architecture that allows us to implement stable time-varying interactive behaviors. For the second case, we present a two-layered bilateral control architecture that ensures a stable behavior during the transition between autonomy and teleoperation and, after the switch, limits the effect of initial mismatch between master and slave poses. The proposed solutions are validated in the realistic surgical scenario developed within the EU-funded I-SUR project, using a surgical robot prototype specifically designed for the autonomous execution of surgical tasks like the insertion of needles into the human body.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery



    Erscheinungsdatum :

    2015-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery

    Ferraguti, Federica / PREDA, Nicola / Manurung, Auralius et al. | BASE | 2015

    Freier Zugriff

    A teleoperated robotic field geologist

    Taylor, G. Jeffrey / Spudis, Paul D. | NTRS | 1990


    A testbed for a unified teleoperated-autonomous dual-arm robotic system

    Hayati, S. / Lee, T. / Tso, K. et al. | NTRS | 1990


    TELEOPERATED ROBOTIC SYSTEM WITH PAYLOAD STABILIZATION

    SMITH FRASER M / OLIVIER MARC X | Europäisches Patentamt | 2023

    Freier Zugriff