NDLI: Hybrid stiff/compliant workspace control for robotized minimally invasive surgery

Content Provider	IEEE Xplore Digital Library
Author	From, P.J. Jang Ho Cho Robertsson, A. Nakano, T. Ghazaei, M. Johansson, R.
Copyright Year	2014
Description	Author affiliation: Dept. of Math. Sci. & Technol., Norwegian Univ. of Life Sci., Ås, Norway (From, P.J.) \|\| Dept. of Autom. Control, Lund Univ., Lund, Sweden (Jang Ho Cho; Robertsson, A.; Nakano, T.; Ghazaei, M.; Johansson, R.)
Abstract	This paper presents a novel control architecture for hybrid stiff and compliant control for minimally invasive surgery which satisfies the constraints of zero lateral velocity at the entry point for serial manipulators. For minimally invasive surgery it is required that there is no sideways motion at the point where the robots enter the abdomen. This is necessary to avoid any damage to the patient's body when the robot moves. We solve this at a kinematic level, i.e., we find a Jacobian matrix that maps the velocities in joint space to the end-effector velocities and at the same time guarantees that certain velocities at the entry point are zero. Because the new velocity variables are defined in the end-effector workspace we can use these for hybrid motion/force control. The approach is verified experimentally by implementing hybrid stiff and compliant control of the end effector and we show that the insertion point constraints are always satisfied.
Starting Page	345
Ending Page	351
File Size	312167
Page Count	7
File Format	PDF
ISBN	9781479931262
ISSN	21551774
e-ISBN	9781479931286
DOI	10.1109/BIOROB.2014.6913800
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-12
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Wrist Kinematics Aerospace electronics End effectors Joints
Content Type	Text
Resource Type	Article

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