A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces

Abstract

In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more challenging scenarios, such as pediatric surgery and microsurgery. However, the prevalence of case-specific solutions, particularly those focused on non-redundant robots, reduces the reproducibility of the initial results in more challenging scenarios. In this paper, we propose a general framework for the control of surgical robotics in constrained workspaces under teleoperation, regardless of the robot geometry. Our technique is divided into a slave-side constrained optimization algorithm, which provides virtual fixtures, and with Cartesian impedance on the master side to provide force feedback. Experiments with two robotic systems, one redundant and one non-redundant, show that smooth teleoperation can be achieved in adult laparoscopy and infant surgery.

arXiv commentAccepted on ICRA 2019, 7 pages

References in corpus (3)

• Dynamic Active Constraints for Surgical Robots using Vector Field Inequalities
• Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions
• Active Constraints using Vector Field Inequalities for Surgical Robots

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• SmartArm: Suturing Feasibility of a Surgical Robotic System on a Neonatal Chest Model
• MBAPose: Mask and Bounding-Box Aware Pose Estimation of Surgical Instruments with Photorealistic Domain Randomization
• UMIRobot: An Open-{Software, Hardware} Low-Cost Robotic Manipulator for Education
• Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback
• Neural Minimum-Distance Estimation for Collision-Aware Operation of Multi-Arm Laparoscopy Surgical Robots Through Learning-from-Simulation