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
Control of articulated snake robot under dynamic active constraints
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part III
Motion compensated SLAM for image guided surgery
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part II
Dynamic shape instantiation for intra-operative guidance
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part I
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In robotic-assisted minimally invasive surgery, there are increasing interests in the use of articulated hyper-redundant robots to provide enhanced flexibility to conform to complex anatomical pathways without the constraint of accurate port placement. However, as the number of joints to be simultaneously actuated increases, so too does the complexity of the control architecture and the computational power required to integrate techniques such as adaptive force control and haptic feedback. In this paper, we propose a degree-of-freedom (DOF) minimization scheme for simplifying the control of a generic hyperredundant articulated robot by identifying the minimum number of joints required to perform a specific task without compromising workspace limits. In particular, a time-varying instrument path is defined for realistic, in vivo settings involving tissue deformation. The minimum number of DOF is determined by the amount of angular displacement of the joints to ensure shape conformance and seamless trajectory manipulation. Dynamic active constraints are also imposed on the entire length of the flexible robot. Detailed simulation and preliminary experimental results are provided to demonstrate the practical application of the proposed framework.