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- Cho, Jang Ho, et al.
(författare)
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Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems
- 2012
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Ingår i: Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), October 7-12, 2012. Vilamoura, Algarve, Portugal. - 2153-0858 .- 2153-0866. ; , s. 1292-1297
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Konferensbidrag (refereegranskat)abstract
- This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance objective for the specific task at hand. The control scheme is validated via experiments using a suture and an industrial manipulator. More specifically we show that operator awareness should be implemented as an integrated part of the safety level to maintain safety during surgery.
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| 2. |
- From, Pål Johan, et al.
(författare)
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Hybrid Stiff/Compliant Workspace Control for Robotized Minimally Invasive Surgery
- 2014
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Ingår i: Proc. 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), August 12-15, 2014. São Paulo, Brazil. - 2155-1774. - 9781479931262 ; , s. 345-351
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Konferensbidrag (refereegranskat)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.
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