Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization

Bai, Weibang and Wang, Ziwei and Cao, Qixin and Yokoi, Hiroshi and Fujie, Masakatsu and Yeatman, Eric and Yang, Guang-Zhong (2022) Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization. IEEE Transactions on Medical Robotics and Bionics, 4 (1). pp. 72-84. ISSN 2576-3202

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Abstract

Effective teleoperation of the small-scale and highly-integrated robots for single-port surgery (SPS) imposes unique control and human-robot interaction challenges. Traditional isometric teleoperation schemes mainly focus on end-to-end trajectory mapping, which is problematic when applied to SPS robotic control, especially for dual-arm coordinated operation. Inspired by the human arm configuration in boxing maneuvers, an optimized anthropomorphic coordinated control strategy based on a dual-step optimization approach is proposed. Theoretical derivation and solvability of the problem are addressed, and the effectiveness of the method is further demonstrated in detailed simulation and in-vitro experiments. The proposed control strategy has been shown to perform dexterous SPS bimanual manipulation more effectively, involving less instrument-interference and is free from singularities, thereby improving the safety and efficiency of SPS operations.

Item Type:
Journal Article
Journal or Publication Title:
IEEE Transactions on Medical Robotics and Bionics
Additional Information:
©2022 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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ID Code:
175697
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Deposited On:
09 Sep 2022 09:25
Refereed?:
Yes
Published?:
Published
Last Modified:
10 Sep 2024 15:36