Planning and control of a teleoperation system for research in minimally invasive robotic surgery

Abstract

Abstract-This paper introduces the planning and control software of a teleoperation system for research in minimally invasive robotic surgery. It addresses the problem of how to organize a complex system with 41 degrees of freedom as a flexible configurable platform. Robot setup planning, force feedback control and nullspace handling with three robotic arms are considered. The planning software is separated into sequentially executed planning and registration procedures. An optimal setup is first planned in virtual reality and then adapted to variations in the operating room. The real time control system is structured in hierarchical layers. Functions are arranged in the layers with respect to their domain and maximum response time. The design is flexible and expandable while performance is maintained. Structure, functionality and implementation of planning and control are described. The prototypic robotic system provides intuitive bimanual bilateral teleoperation within the planned working space.

Integration of New Features for Telerobotic Surgery into The Mirosurge System

“…The integration of the presented modules into the MiroSurge platform was possible without major changes in the existing control schemes presented in [47]. The achieved modularity facilitates e.g.…”

“…The measured interaction forces returned from the slave are amplified and commanded to the master. The gain factor depends on the motion scaling [47]. An analytic inverse kinematics for the MIRO and the instrument calculates the joint angles such that the instrument crosses the entry point and reaches the commanded slave pose.…”

Continuous Role Adaptation for Human–Robot Shared Control

“…T and the measured interaction force f . Calculate P by solving (12). Calculate optimal controls u * and f * in (10) and (11), respectively.…”

“…However, to require the human to always lead the task and drive the robot means subjecting the human constantly to a high cognitive load, which degrades performance over prolonged operation. Although specialized applications such as robotic surgery [12] and assistive exoskeletons [13] can benefit from such a fixed-role leaderfollower paradigm, the same may not be true in general for other applications. A case in point is cooperative welding [14], where it was shown to be advantageous for a robot to lead during the welding process because the information required to control welding can be obtained more accurately by the robot.…”

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

“…This concept is used wherever it is considered useful to combine the computational efficiency, precision, or sturdiness of machines with the perception ability and decision-making processes of humans. As a result, teleoperation technology for robotic systems has been considered, developed, or used for a large spectrum of tasks, e.g., for work in mining (Duff et al, 2009), nuclear facilities (Qian, Song, Bao, & Zhang, 2012), agriculture (Murakami et al, 2008), surgery (Tobergte, Konietschke, & Hirzinger, 2009), space robotics (Yoon et al, 2004), and even surgery in space (Haidegger & Benyo, 2008).…”