RT info:eu-repo/semantics/article
T1 Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion
A1 Fontúrbel, Carlos
A1 Cisnal De La Rica, Ana
A1 Fraile Marinero, Juan Carlos
A1 Pérez Turiel, Javier
K1 robotic surgery
K1 laparoscopy
K1 force control
K1 collaborative robotics
K1 admittance control
AB 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 aforce-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 thereallocation 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 dynamicallyconstrains 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 robotswithout mechanical RCMs, as well as commercial collaborative robots, thereby improving the safety of surgical interventions in collaborative environments.
PB Frontiers
YR 2023
FD 2023
LK https://uvadoc.uva.es/handle/10324/73265
UL https://uvadoc.uva.es/handle/10324/73265
LA spa
NO Frontiers in Robotics and AI, April, 2023, vol. 10, p. 1-14
DS UVaDOC
RD 23-ene-2025