Linear MPC-based Motion Planning for Autonomous Surgery
Marco Minelli, Alessio Sozzi, Giacomo De Rossi, Federica Ferraguti, Saverio Farsoni, Francesco Setti, Riccardo Muradore, Marcello Bonfè
Abstract
Within the context of Robotic Minimally Invasive Surgery (R-MIS), we propose a novel linear model predictive controller formulation for the coordination of multiple autonomous robotic arms. The controller is synthesized by formulating a linear approximation of non-linear constraints, which allows the controller to be both computationally faster and better performing due to the increased prediction horizon allowed within the real-time control requirements for the proposed surgical application. The solution is validated under the expected constraints of a surgical scenario in which multiple laparoscopic tools must move and coordinate in a shared environment.
BibTeX
@inproceedings{iros2022_linearmpcbasedmo,
title = {Linear MPC-based Motion Planning for Autonomous Surgery},
author = {Marco Minelli and Alessio Sozzi and Giacomo De Rossi and Federica Ferraguti and Saverio Farsoni and Francesco Setti and Riccardo Muradore and Marcello Bonfè and Cristian Secchi},
booktitle = {IROS 2022},
year = {2022}
}