Hybrid trajectory/force control strategy for the in vivo robot during stomach biopsy

Abstract

Traditional endoscopy involves limited surgery called biopsy and abdominal cavity exploration. Limitations like reduced dexterity and limited visualization, because of reduced access to the surgical field, limit the surgeon's perception and increases his strain. This results in error while performing surgery. To reduce this deficiency, the involvement of robotic assistance to surgery is one of the greatest milestones crossed so far in the history of medical science. Many researches have been carried out in this particular domain so far, and the research is still in its infancy stage. Several attempts have been made to diminish the limitations in conventional endoscopes used for biopsy, and new design and control strategies have been proposed. This paper presents a hybrid force/trajectory control strategy of such hyper-redundant robot when the robot interacts with the tissues. The force control is of interest here to avoid the damage of healthy tissues when robot interacts with them. To illustrate the methodology, an example of three-link redundant robot has been considered.