Abstract
In this paper, a safety-enhanced collaborative control framework is proposed for tele-operated minimally invasive surgery (MIS) using a redundant 7-DoF serial robot. The redundant manipulators offer a safe physical collaborative flexible workspace for nurse or surgeon (assisting physicians, patient support) undergoing surgery. The novel framework integrates a Cartesian compliance control strategy to guarantee that the tele-operated surgical tool always goes through the trocar position, and a safety-enhanced null-space collaborative strategy to constrain the swivel motion in an assumed safe range. Two event-based operative procedures (hands-on motion and teleoperation) are performed in torque level to achieve the whole surgical task. Finally, experimental studies with virtual surgical tasks were conducted to validate the effectiveness of the proposed framework, using the KUKA LWR 4+ robot and Sigma 7 master device. It provided an online flexible and safe collaborative way without degradation of the quality of the surgical task.
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Recommended by Associate Editor Sukho Park under the direction of Editor Hamid Reza Karimi. This work is supported by the Department of Electronics, Information and Bioengineering of the Politecnico di Milano, China Scholarship Council and French Ministry of Research.
Hang Su received the M.Sc. degree in Control theory and control engineering in South China University of Technology, Guangzhou, China. He is pursuing a Ph.D. degree as a member of the Medical and Robotic Surgery group (NEARLab) in Politecnico di Milano, Milano, Italy, working on control of surgical robots.
Juan Sandoval is currently an Assistant Professor at PPRIME Institute, University of Poitiers, France. He received his Ph.D. degree on robotics from the University of Orleans, France, in 2017. He also obtained a Mechatronics Engineering degree from the National University of Colombia and a Master’s degree from the National School of Engineering ENIVL, France (2012).
Pierre Vieyres received his M.Sc. in Electrical engineering from University College London (UK), and his Ph.D. degree in 1990 in biomedical engineering from the University of Tours (France). In 1992, he joined the University of Orleans (France) he is a full Professor in the Robotics Team of PRISME laboratory.
Gérard Poisson is a Professor at the University of Orleans (France) and a researcher at PRISME Laboratory. He obtained the French Agregation of Mechanics in 1980 and a Ph.D. in robotics at Orleans University in 1994. He is currently the director of the Bourges Institute of Technology (IUT) and deputy director of PRISME Laboratory.
Giancarlo Ferrigno received the M.Sc. degree in electrical engineering and the Ph.D. degree in bioengineering from the Politecnico di Milano, Milan, Italy. He is a Full Professor of Medical Robotics and the Founder of the Neuroengineering and Medical Robotics Laboratory with the Department of Electronics, Information and Bioengineering, Politecnico di Milano.
Elena De Momi received her M.Sc. and Ph.D. degrees in biomedical engineering from the Politecnico di Milano, Milan, Italy. She is currently an Assistant Professor in the Department of Electronics, Information, and Bioengineering, Politecnico di Milano.
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Su, H., Sandoval, J., Vieyres, P. et al. Safety-enhanced Collaborative Framework for Tele-operated Minimally Invasive Surgery Using a 7-DoF Torque-controlled Robot. Int. J. Control Autom. Syst. 16, 2915–2923 (2018). https://doi.org/10.1007/s12555-017-0486-3
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DOI: https://doi.org/10.1007/s12555-017-0486-3