期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 2, 期 3, 页码 1704-1711出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2017.2668465
关键词
Calibration and identification; dexterous manipulation; kinematics; medical robots and systems; telerobotics and teleoperation
类别
资金
- Department of Health
- Wellcome Trust [HICF-T4-299]
- Imperial College London
- EPSRC U.K
- EPSRC [EP/M000257/1, EP/N027132/1] Funding Source: UKRI
- Engineering and Physical Sciences Research Council [1372090, EP/M000257/1, EP/N027132/1] Funding Source: researchfish
- Medical Research Council [1241530] Funding Source: researchfish
The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace through natural orifices such as the mouth or the anus. Due to the long and narrow nature of these access pathways, external triangulation at the fulcrum point is very limited or absent, which makes introducing multiple degrees of freedom at the distal end of the instrument necessary. Additionally, high force and miniaturization requirements make the control of such instruments particularly challenging. This letter presents the kinematic considerations needed to effectively manipulate these novel instruments and allow us their dexterous control in confined spaces. A nonlinear calibration model is further used to map joint to actuator space and improve significantly the precision of the instrument's motion. The effectiveness of the presented approach is quantified with bench tests, and the usability of the system is assessed by three user studies simulating the requirements of a realistic surgical task.
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