ISER '00 Experimental Robotics VII
CVRMed-MRCAS '97 Proceedings of the First Joint Conference on Computer Vision, Virtual Reality and Robotics in Medicine and Medial Robotics and Computer-Assisted Surgery
Nonholonomic Modeling of Needle Steering
International Journal of Robotics Research
An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots
IEEE Transactions on Robotics
System design of an insertable robotic effector platform for single port access (SPA) surgery
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
International Journal of Robotics Research
Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools
International Journal of Robotics Research
Development of an endoscopic continuum robot to enable transgastric surgical obesity treatment
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
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In this paper we present the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with 20 joint-space Degrees-of-Freedom (DoFs), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such as the throat. The telerobotic slave uses novel continuum robots that use multiple super-elastic backbones for actuation and structural integrity. We present the kinematics of the telesurgical slave and methods for actuation compensation to cancel the effects of backlash, friction, and flexibility of the actuation lines. A method for actuation compensation is presented in order to overcome uncertainties of modeling, friction, and backlash. This method uses a tiered hierarchy of two novel approaches of actuation compensation for remotely actuated snake-like robots. The tiered approach for actuation compensation uses compensation in both joint space and configuration space of the continuum robots. These hybrid actuation compensation schemes use intrinsic model information and external data through a recursive linear estimation algorithm and involve compensation using configuration space and joint space variables. Experimental results validate the ability of our integrated telemanipulation system through experiments of suturing and knot tying in confined spaces.