Control of articulated snake robot under dynamic active constraints

Authors:
Ka-Wai Kwok;Valentina Vitiello;Guang-Zhong Yang
Affiliations:
The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom;The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom;The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom
Venue:
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part III
Year:
2010

Citing 4
Cited 1

Soft Tissue Tracking for Minimally Invasive Surgery: Learning Local Deformation Online

MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Dynamic Active Constraints for Hyper-Redundant Flexible Robots

MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
A modified Newton-Euler method for dynamic computations in robot fault detection and control

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Spatial Motion Constraints Using Virtual Fixtures Generated by Anatomy

IEEE Transactions on Robotics

DOF minimization for optimized shape control under active constraints for a hyper-redundant flexible robot

IPCAI'11 Proceedings of the Second international conference on Information processing in computer-assisted interventions

Quantified Score

Hi-index	0.00

Visualization

Abstract

Flexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential. In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed. The main objective is to enable the robot to track the visual target accurately and steadily on deforming tissue whilst conforming to pre-defined anatomical constraints. The motion tracking can also be augmented with manual control. By taking into account the physical limits in terms of maximum frequency response of the system (manifested as a delay between the input of the manipulator and the movement of the end-effector), we show the importance of visual-motor synchronisation for performing accurate smooth pursuit movements. Detailed user experiments are performed to demonstrate the practical value of the proposed control mechanism.