Robert Kahlau

Saturation in the Null-Space (SNS) for Tele-operated Surgery: Prioritized Motion Control for RCM and Joint Limit Constraints

This paper showcases the application of the Saturation in the Null Space (SNS) algorithm to establish task prioritization and coordination within a tele-operated minimally invasive robotic surgical setting. In our work, SNS prioritizes achieving Remote Center of Motion (RCM) constraint, ensuring saf…