Rights statement: ©2022 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Accepted author manuscript, 2.24 MB, PDF document
Available under license: CC BY: Creative Commons Attribution 4.0 International License
Final published version
Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
}
TY - JOUR
T1 - Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization
AU - Bai, Weibang
AU - Wang, Ziwei
AU - Cao, Qixin
AU - Yokoi, Hiroshi
AU - Fujie, Masakatsu
AU - Yeatman, Eric
AU - Yang, Guang-Zhong
N1 - ©2022 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
PY - 2022/2/28
Y1 - 2022/2/28
N2 - Effective teleoperation of the small-scale and highly-integrated robots for single-port surgery (SPS) imposes unique control and human-robot interaction challenges. Traditional isometric teleoperation schemes mainly focus on end-to-end trajectory mapping, which is problematic when applied to SPS robotic control, especially for dual-arm coordinated operation. Inspired by the human arm configuration in boxing maneuvers, an optimized anthropomorphic coordinated control strategy based on a dual-step optimization approach is proposed. Theoretical derivation and solvability of the problem are addressed, and the effectiveness of the method is further demonstrated in detailed simulation and in-vitro experiments. The proposed control strategy has been shown to perform dexterous SPS bimanual manipulation more effectively, involving less instrument-interference and is free from singularities, thereby improving the safety and efficiency of SPS operations.
AB - Effective teleoperation of the small-scale and highly-integrated robots for single-port surgery (SPS) imposes unique control and human-robot interaction challenges. Traditional isometric teleoperation schemes mainly focus on end-to-end trajectory mapping, which is problematic when applied to SPS robotic control, especially for dual-arm coordinated operation. Inspired by the human arm configuration in boxing maneuvers, an optimized anthropomorphic coordinated control strategy based on a dual-step optimization approach is proposed. Theoretical derivation and solvability of the problem are addressed, and the effectiveness of the method is further demonstrated in detailed simulation and in-vitro experiments. The proposed control strategy has been shown to perform dexterous SPS bimanual manipulation more effectively, involving less instrument-interference and is free from singularities, thereby improving the safety and efficiency of SPS operations.
U2 - 10.1109/TMRB.2022.3145673
DO - 10.1109/TMRB.2022.3145673
M3 - Journal article
VL - 4
SP - 72
EP - 84
JO - IEEE Transactions on Medical Robotics and Bionics
JF - IEEE Transactions on Medical Robotics and Bionics
SN - 2576-3202
IS - 1
ER -