Abstract
The Remote Centre of Motion (RCM) is an essential movement done by the surgeon during a minimally invasive surgery. By applying the RCM, the surgical tool should be always superposed upon the centre point of incision hole in order to prevent patient harm. This chapter presents a geometric modelling of such constrained motion in task-space (i.e., operational-space) for implementing a velocity controller with task priority form. The RCM constraints are considered as the highest priority while the 3D path following is considered as lower priority. The proposed controller shows the advantage of accurate motion control for executing complex movements within the patient body; since the results shows the mean error of RCM error around 0.156 mm/s and its standard deviation around 0.112 mm/s. While the mean value and the standard deviation of path following error were approximately 0.348 and 0.184 mm/s, respectively.
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Notes
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\(\mu \)RALP (Micro-technologies and Systems for Robot-Assisted Laser Phonomicrosurgery). [online]. http://www.microralp.eu/.
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Dahroug, B., Tamadazte, B., Andreff, N. (2018). Task Controller for Performing Remote Centre of Motion. In: Madani, K., Peaucelle, D., Gusikhin, O. (eds) Informatics in Control, Automation and Robotics . Lecture Notes in Electrical Engineering, vol 430. Springer, Cham. https://doi.org/10.1007/978-3-319-55011-4_6
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