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A novel optimal coordinated control strategy for the updated robot system for single port surgery
Author(s) -
Bai Weibang,
Cao Qixin,
Leng Chuntao,
Cao Yang,
Fujie Masakatsu G.,
Pan Tiewen
Publication year - 2017
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1844
Subject(s) - teleoperation , computer science , robot , kinematics , robotic arm , robot control , control system , simulation , control engineering , artificial intelligence , mobile robot , engineering , physics , classical mechanics , electrical engineering
Abstract Background Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. Methods A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real‐time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. Results The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. Conclusions The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self‐interference and singularity free while teleoperating.