| Autor: |
Weibang Bai, Ziwei Wang, Qixin Cao, Hiroshi Yokoi, Masakatsu G. Fujie, Eric M. Yeatman, Guang-Zhong Yang |
| Přispěvatelé: |
Engineering & Physical Science Research Council (EPSRC) |
| Rok vydání: |
2022 |
| Zdroj: |
IEEE Transactions on Medical Robotics and Bionics. 4:72-84 |
| ISSN: |
2576-3202 |
| Popis: |
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. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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