Mass and inertia optimization for natural motion in hands-on robotic surgery

Petersen, Joshua G.; Baena, Ferdinando Rodriguez y

doi:10.1109/iros.2014.6943167

Cited by 7 publications

(13 citation statements)

References 19 publications

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“…Experimental results showed that the NSO strategy was able to adapt to varying encumbrance requirements, sim- ulating different surgical OR conditions, and to combine the positive features of both damped posture [2] and fixed optimal posture modes [3]. In fact, NSO was proved to allow wide mobility of the manipulator's elbow, when encumbrance issues can be neglected (scenario A), such as during brain mapping open-skull neurosurgery.…”

Section: Discussionmentioning

confidence: 99%

“…• A Fixed Optimal Posture (FOP) [3]: a constant stiffness (30Nm/rad) is imposed on the initial joint configuration, according to ns 0 .…”

Section: Experimental Protocolmentioning

confidence: 99%

“…In the hands-on cooperative mode, the surgeon manually guides the medical instrument attached at the end-effector of the robotic assistant, which provides increased positional accuracy together with reduced surgeon's fatigue. High maneuverability and compliance of the robotic arm are desirable in order to reduce the user's efforts during the robot guidance [2], [3]. The use of a redundant manipulator, i.e.…”

Section: Introductionmentioning

confidence: 99%

“…The inverse kinematics problem was solved in order to guarantee the maximum dynamic manipolability of the Cartesian task at the contact point [4]. Differently, null space optimization methods were developed for minimizing the effective mass and inertia [3] of the manipulator at guidance contact point. Moreover, the respect of position, velocity and acceleration bounds can be used as a criterion for the redundancy solution [5], where the joints exceeding the imposed constraints are saturated and their effects are compensated by the remaining joints.…”

Section: Introductionmentioning

confidence: 99%

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Redundancy optimization strategy for hands-on robotic surgery

Barra

Beretta

Nessi

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Abstract-During hands-on cooperative surgery, the use of a redundant robot allows to address encumbrance issues in the Operating Room (OR), which can occur due to the presence of large medical instrumentation, such as the surgical microscope. This work presents a new Null Space Optimization (NSO) strategy to constraint the position of the manipulator's elbow within predefined range of motions, according to the spatial requirements of the specific procedure, also taking into account the physical joint limits of the robotic assistant. The proposed strategy was applied to the 7 degrees of freedom (dof) lightweight robot LWR4+. The performance of the NSO was compared to two state-of-the-art null space optimization strategies, i.e. damped posture and fixed optimal posture, over a pool of three non-expert users in both strict (20deg) and negligible (100deg) angular encumbrance limitations. The NSO strategy was proved versatile in providing wide elbow mobility together with safe distance from relevant continuity null space boundaries, guaranteeing smooth guidance trajectories. Future works would be performed in order to evaluate the potential feasibility of NSO in a real surgical scenario.

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Section: Discussionmentioning

confidence: 99%

“…• A Fixed Optimal Posture (FOP) [3]: a constant stiffness (30Nm/rad) is imposed on the initial joint configuration, according to ns 0 .…”

Section: Experimental Protocolmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Redundancy optimization strategy for hands-on robotic surgery

Barra

Beretta

Nessi

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

View full text Add to dashboard Cite

show abstract

“…They generated a database that describes the effects of different collision configurations on human tissue, embedding injury knowledge in the robot's motion planning and control systems. In [21] and [22], a surgery robot's redundancy was used to follow a minimum effective mass and inertia trajectory while under the surgeons control. Another strategy in impact minimisation is presented in [23], where the authors designed a robot path controller to constrain the dissipated energy in case of inelastic collision.…”

Section: Introductionmentioning

confidence: 99%

Safe robotic grasping: Minimum impact-force grasp selection

Mavrakis

Ghalamzan

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations are important for safety in human-robot interaction, where even a certified "human-safe" (e.g. compliant) arm may become hazardous once it grasps and begins moving an object, which may have significant mass, sharp edges or other dangers. Additionally, minimising collision forces is critical to preserving longevity of robots which operate in uncertain and hazardous environments, e.g. robots deployed for nuclear decommissioning, where removing a damaged robot from a contaminated zone for repairs may be extremely difficult and costly. Also, unwanted collisions between a robot and critical infrastructure (e.g. pipework) in such high-consequence environments can be disastrous. In this paper we investigate how the safety of the post-grasp motion can be considered during the pre-grasp approach phase, so that the selected grasp is optimal in terms applying minimum impact forces if a collision occurs during a desired post-grasp manipulation. We build on the methods of augmented robot-object dynamics models and "effective mass" and propose a method for combining these concepts with modern grasp and trajectory planners, to enable the robot to achieve a grasp which maximises the safety of the postgrasp trajectory, by minimising potential collision forces. We demonstrate the effectiveness of our approach through several experiments with both simulated and real robots.

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Toward physics-based virtual reality testbeds for intelligent robot manipulators - an eRobotics approach

Kaigom

Roßmann

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Mass and inertia optimization for natural motion in hands-on robotic surgery

Cited by 7 publications

References 19 publications

Redundancy optimization strategy for hands-on robotic surgery

Redundancy optimization strategy for hands-on robotic surgery

Safe robotic grasping: Minimum impact-force grasp selection

Toward physics-based virtual reality testbeds for intelligent robot manipulators - an eRobotics approach

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