TY - GEN
T1 - RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control
AU - Rayyan, Omar
AU - Goncalves, Vinicius
AU - Evangeliou, Nikolaos
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is upheld algorithmically, providing flexibility in the positioning of the insertion point and enabling compatibility with a wide range of general-purpose robots. The paper further investigates the impact of the tool's insertion ratio on the RCM-error, and introduces a manipulability index of the robot which considers the RCM-error that it is used to find a starting configuration. To accurately evaluate the proposed method's trajectory tracking within an RCM-constrained environment, an electromagnetic tracking system is employed. The results demonstrate the effectiveness of the proposed method in addressing the RCM constraint problem in RA-MIS.
AB - This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is upheld algorithmically, providing flexibility in the positioning of the insertion point and enabling compatibility with a wide range of general-purpose robots. The paper further investigates the impact of the tool's insertion ratio on the RCM-error, and introduces a manipulability index of the robot which considers the RCM-error that it is used to find a starting configuration. To accurately evaluate the proposed method's trajectory tracking within an RCM-constrained environment, an electromagnetic tracking system is employed. The results demonstrate the effectiveness of the proposed method in addressing the RCM constraint problem in RA-MIS.
UR - http://www.scopus.com/inward/record.url?scp=85185831857&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85185831857&partnerID=8YFLogxK
U2 - 10.1109/ICAR58858.2023.10406459
DO - 10.1109/ICAR58858.2023.10406459
M3 - Conference contribution
AN - SCOPUS:85185831857
T3 - 2023 21st International Conference on Advanced Robotics, ICAR 2023
SP - 311
EP - 316
BT - 2023 21st International Conference on Advanced Robotics, ICAR 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st International Conference on Advanced Robotics, ICAR 2023
Y2 - 5 December 2023 through 8 December 2023
ER -