DocumentCode :
3530029
Title :
Task control with remote center of motion constraint for minimally invasive robotic surgery
Author :
Aghakhani, Nastaran ; Geravand, Milad ; Shahriari, Navid ; Vendittelli, Marilena ; Oriolo, Giuseppe
Author_Institution :
Dipt. di Ing. Inf., Autom. e Gestionale, Univ. di Roma La Sapienza, Rome, Italy
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
5807
Lastpage :
5812
Abstract :
Minimally invasive surgery assisted by robots is characterized by the restriction of feasible motions of the manipulator link constrained to move through the entry port to the patient´s body. In particular, the link is only allowed to translate along its axis and rotate about the entry point. This requires constraining the manipulator motion with respect to a point known as Remote Center of Motion (RCM). The achievement of any surgical task inside the patient´s body must take into account this constraint. In this paper we provide a new, general characterization of the RCM constraint useful for task control in the minimally invasive robotic surgery context. To show the effectiveness of our formalization, we consider first a visual task for a manipulator with 6 degrees of freedom holding an endoscopic camera and derive the kinematic control law allowing to achieve the visual task while satisfying the RCM constraint. An example of application of the proposed kinematic modeling to a motion planning problem for a 9 degrees of freedom manipulator with assigned path for the surgical tool is then proposed to illustrate the generality of the approach.
Keywords :
cameras; control engineering computing; endoscopes; manipulator kinematics; manipulators; medical computing; medical robotics; path planning; robot vision; surgery; 6 degrees of freedom manipulator; 9 degrees of freedom manipulator; RCM constraint; endoscopic camera; kinematic control law; kinematic modeling; manipulator link; minimally invasive robotic surgery; motion planning problem; remote center of motion constraint; surgical task; surgical tool; task control; visual task; Cameras; Joints; Kinematics; Manipulators; Surgery; Visualization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631412
Filename :
6631412
Link To Document :
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