2026-05-12T01:04:08Zhttps://uvadoc.uva.es/oai/request
oai:uvadoc.uva.es:10324/732652025-01-13T08:16:16Zcom_10324_966com_10324_952com_10324_894col_10324_967
UVaDOC author Fontúrbel, Carlos author Cisnal De La Rica, Ana author Fraile Marinero, Juan Carlos author Pérez Turiel, Javier 2025-01-09T09:16:37Z 2025-01-09T09:16:37Z 2023 Frontiers in Robotics and AI, April, 2023, vol. 10, p. 1-14 https://uvadoc.uva.es/handle/10324/73265 10.3389/frobt.2023.1145265 Frontiers in Robotics and AI 10 2296-9144 Introduction: Laparoscopic surgery often relies on a fixed Remote Center of Motion (RCM) for robot mobility control, which assumes that the patient’s abdominal walls are immobile. However, this assumption is inaccurate, especially in collaborative surgical environments. In this paper, we present a force-based strategy for the mobility of a robotic camera-holder system for laparoscopic surgery based on a pivoting motion. This strategy reconceptualizes the conventional mobility control paradigm of surgical robotics. Methods: The proposed strategy involves direct control of the Tool Center Point’s (TCP) position and orientation without any constraints associated with the spatial position of the incision. It is based on pivoting motions to minimize contact forces between the abdominal walls and the laparoscope. The control directly relates the measured force and angular velocity of the laparoscope, resulting in the reallocation of the trocar, whose position becomes a consequence of the natural accommodation allowed by this pivoting. Results: The effectiveness and safety of the proposed control were evaluated through a series of experiments. The experiments showed that the control was able to minimize an external force of 9 N to ±0.2 N in 0.7 s and reduce it to 2 N in just 0.3 s. Furthermore, the camera was able to track a region of interest by displacing the TCP as desired, leveraging the strategy’s property that dynamically constrains its orientation. Discussion: The proposed control strategy has proven to be effective minimizing the risk caused by sudden high forces resulting from accidents and maintaining the field of view despite any movements in the surgical environment, such as physiological movements of the patient or undesired movements of other surgical instruments. This control strategy can be implemented for laparoscopic robots without mechanical RCMs, as well as commercial collaborative robots, thereby improving the safety of surgical interventions in collaborative environments. spa Attribution-NonCommercial-NoDerivatives 4.0 Internacional Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion info:eu-repo/semantics/article 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URL https://uvadoc.uva.es/bitstream/10324/73265/1/frobt-10-1145265.pdf File MD5 e532ed4d1361811cc872d4263a51a6c6 3475508 application/pdf frobt-10-1145265.pdf