Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery
Pierre Berthet-Rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-Zhong Yang
Abstract
The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6 DOF. This letter introduces a snakelike robot for ear, nose, and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different control methods were investigated. The methods are compared through simulation with a user study. Each participant performed the same task using each of the six different control methods. Based on the metrics selected, the sparse pseudo-L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">0</sub> and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.
BibTeX
@inproceedings{ral2018_inversekinematic,
title = {Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery},
author = {Pierre Berthet-Rayne and Konrad Leibrandt and Gauthier Gras and Philippe Fraisse and André Crosnier and Guang-Zhong Yang},
booktitle = {RA-L 2018},
year = {2018}
}