Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

Berthet-Rayne, Pierre; Leibrandt, Konrad; Gras, Gauthier; Fraisse, Philippe; Crosnier, André; Yang, Guang‐Zhong

doi:10.1109/lra.2018.2812907

Cited by 45 publications

(25 citation statements)

References 23 publications

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“…Although the robot has thirteen vertebrae, 7DOF are used for actuation. The kinematics was presented in previous work 2 but can be summarized as follows: the first DOF starting from the base is a revolute joint rotating all the articulations of the snake robot. The 13 vertebrae following the base joint make up 12 rolling-joints.…”

Section: Methodsmentioning

confidence: 99%

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The i2Snake Robotic Platform for Endoscopic Surgery

et al. 2018

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Endoscopic procedures have transformed minimally invasive surgery as they allow the examination and intervention on a patient’s anatomy through natural orifices, without the need for external incisions. However, the complexity of anatomical pathways and the limited dexterity of existing instruments, limit such procedures mainly to diagnosis and biopsies. This paper proposes a new robotic platform: the Intuitive imaging sensing navigated and kinematically enhanced () robot that aims to improve the field of endoscopic surgery. The proposed robotic platform includes a snake-like robotic endoscope equipped with a camera, a light-source and two robotic instruments, supported with a robotic arm for global positioning and for insertion of the and a master interface for master–slave teleoperation. The proposed robotic platform design focuses on ergonomics and intuitive control. The control workflow was first validated in simulation and then implemented on the robotic platform. The results are consistent with the simulation and show the clear clinical potential of the system. Limitations such as tendon backlash and elongation over time will be further investigated by means of combined hardware and software solutions. In conclusion, the proposed system contributes to the field of endoscopic surgical robots and could allow to perform more complex endoscopic surgical procedures while reducing patient trauma and recovery time.

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Section: Methodsmentioning

confidence: 99%

“…Finally, the mapping between the master interface motion and the robot tip motion is done using a ‘joint limit based Jacobian modification’ approach. 2 This approach allows controlling the ’s body in an intuitive way where the hand motions are replicated by the robot’s tip. 2 …”

Section: Methodsmentioning

confidence: 99%

The i2Snake Robotic Platform for Endoscopic Surgery

et al. 2018

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“…The optimization method used to be applied to solve the inverse kinematics of a soft robot [22] and a continuum robot [23]. Redundant snakelike robot teleoperation was controlled using the pseudoinverse of Jacobian and linear programming [24]. In this study, the inverse kinematics from the task space to the joint space were solved in two different ways: a numerical method and an approach using differential kinematics with a control algorithm.…”

Section: Path Generator Solving For Inverse Kinematicsmentioning

confidence: 99%

Kinematic Model and Real-Time Path Generator for a Wire-Driven Surgical Robot Arm with Articulated Joint Structure

Jin

Lee

Lee³

et al. 2019

Applied Sciences

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This paper presents a forward kinematic model of a wire-driven surgical robot arm with an articulated joint structure and path generation algorithms with solutions of inverse kinematics. The proposed methods were applied to a wire-driven surgical robot for single-port surgery. This robot has a snake-like robotic arm with double segments to fit the working space in a single port and a joint structure to secure stiffness. The accuracy of the model is highly important because small surgical robot arms are usually controlled by open-loop control. A curvature model is widely used to describe and control a continuum robotic body. However, the model is quite different from a continuum robotic arm with a joint structure and can lead to slack of the driving wires or decreased stiffness of the joints. An accurate forward kinematic model was derived to fit the actual hardware structure via the frame transformation method. An inverse kinematic model from the joint space to the wire-length space was determined from an asymmetric model for the joint structure as opposed to a symmetric curvature model. The path generation algorithm has to generate a command to send to each actuator in open-loop control. Two real-time path generation algorithms that solve for inverse kinematics from the task space to the joint space were designed and compared using simulations and experiments. One of the algorithms is an optimization method with sequential quadratic programming (SQP), and the other uses differential kinematics with a PID (Proportional-Integral-Derivative) control algorithm. The strengths and weaknesses of each algorithm are discussed.

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“…The relevance of the proposed design for ENT clinical applications was validated in a simulated environment using a virtual simulator presented in [28]. The proposed device is composed of three actuated sections, each section is composed of two subsections of floating rolling-joints as depicted in Fig.…”

Section: B Clinical Validationmentioning

confidence: 99%

“…The proposed device is composed of three actuated sections, each section is composed of two subsections of floating rolling-joints as depicted in Fig. 3 and its kinematic was thoroughly investigated in [28]. The proposed joint arrangement allows for a large range of joint configurations, from straight shapes to S shapes as shown in Fig.…”

Section: B Clinical Validationmentioning

confidence: 99%

Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots

Berthet-Rayne

Leibrandt

Kim

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The use of snake-like robots for surgery is a popular choice for intra-luminal procedures. In practice, the requirements for strength, flexibility and accuracy are difficult to be satisfied simultaneously. This paper presents a computational approach for optimizing the design of a snake-like robot using serial rolling-joints and tendons as the base architecture. The method optimizes the design in terms of joint angle range and tendon placement to prevent the tendons and joints from colliding during bending motion. The resulting optimized joints were manufactured using 3D printing. The robot was characterized in terms of workspace, dexterity, precision and manipulation forces. The results show a repeatability as low as 0.9 mm and manipulation forces of up to 5.6 N.

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Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

Cited by 45 publications

References 23 publications

The i2Snake Robotic Platform for Endoscopic Surgery

The i2Snake Robotic Platform for Endoscopic Surgery

Kinematic Model and Real-Time Path Generator for a Wire-Driven Surgical Robot Arm with Articulated Joint Structure

Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots

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