TY - GEN
T1 - Admittance Control for Adaptive Remote Center of Motion in Robotic Laparoscopic Surgery
AU - Nasiri, Ehsan
AU - Wang, Long
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the instrument is inserted through the trocar, intrinsic physiological movements such as the patient's heartbeat, breathing process, and/or other purposeful body repositioning may deviate the position of the port of entry. This can cause a conflict between the registered RCM and the moved port of entry. To mitigate this conflict, we seek to utilize the interaction forces at the RCM. We develop a novel framework that integrates admittance control into a redundancy resolution method for the RCM kinematic constraint. Using the force/torque sensory feedback at the base of the instrument driving mechanism (IDM), the proposed framework estimates the forces at RCM, rejects forces applied on other locations along the instrument, and uses them in the admittance controller. In this paper, we report analysis from kinematic simulations to validate the proposed framework. In addition, a hardware platform has been completed, and future work is planned for experimental validation.
AB - In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the instrument is inserted through the trocar, intrinsic physiological movements such as the patient's heartbeat, breathing process, and/or other purposeful body repositioning may deviate the position of the port of entry. This can cause a conflict between the registered RCM and the moved port of entry. To mitigate this conflict, we seek to utilize the interaction forces at the RCM. We develop a novel framework that integrates admittance control into a redundancy resolution method for the RCM kinematic constraint. Using the force/torque sensory feedback at the base of the instrument driving mechanism (IDM), the proposed framework estimates the forces at RCM, rejects forces applied on other locations along the instrument, and uses them in the admittance controller. In this paper, we report analysis from kinematic simulations to validate the proposed framework. In addition, a hardware platform has been completed, and future work is planned for experimental validation.
UR - http://www.scopus.com/inward/record.url?scp=85200704079&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85200704079&partnerID=8YFLogxK
U2 - 10.1109/UR61395.2024.10597442
DO - 10.1109/UR61395.2024.10597442
M3 - Conference contribution
AN - SCOPUS:85200704079
T3 - 2024 21st International Conference on Ubiquitous Robots, UR 2024
SP - 51
EP - 57
BT - 2024 21st International Conference on Ubiquitous Robots, UR 2024
T2 - 21st International Conference on Ubiquitous Robots, UR 2024
Y2 - 24 June 2024 through 27 June 2024
ER -