Optimal motion control for teleoperated surgical robots

Janez Funda; Russell H. Taylor; Kreg Gruben; David LaRose

doi:10.1117/12.164902

21 December 1993 Optimal motion control for teleoperated surgical robots

Janez Funda, Russell H. Taylor, Kreg Gruben, David LaRose

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164902
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper addresses the problem of optimal motion control for teleoperated surgical robots, which must maneuver in constrained workspaces. The control problem is determining how best to use the available degrees of freedom of a surgical robot to accomplish a particular task, while respecting geometric constraints on the work volume, robot mechanism, and the specific task requirements. We present a method of formulating desired motions in the task space (task space goals) as instances of a quadratic optimization problem, optionally subject to additional linear constraints. The control formalism applies both to kinematically deficient as well as kinematically redundant mechanisms. Specifically, we discuss the problem as it relates to a representative set of tasks in teleoperated navigation of a laparoscopic camera attached to a surgical robot.

Citation Download Citation

Janez Funda, Russell H. Taylor, Kreg Gruben, and David LaRose "Optimal motion control for teleoperated surgical robots", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164902

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