Modeling and control of robotic surgical platform for single-port access surgery | IEEE Conference Publication | IEEE Xplore

Modeling and control of robotic surgical platform for single-port access surgery


Abstract:

In this paper, we present a modeling and control method for a single-port access robot developed by our robotics group at the Samsung Advanced Institute of Technology. Th...Show More

Abstract:

In this paper, we present a modeling and control method for a single-port access robot developed by our robotics group at the Samsung Advanced Institute of Technology. The surgical robot consists of a snake-like 6-degree-of-freedom (DOF) guide tube, two 7-DOF tools, a 3-DOF stereo camera, and a 5-DOF slave arm. The robot is capable of reaching various surgical sites inside the abdominal cavity from a single incision on the body. To estimate the workspace and control the guide tube to a desired location, we first obtain the forward kinematics model of the guide tube and then propose a Cartesian-level controller. The wire actuation mechanism for the tools exhibit nonlinear backlash behavior because of wire compliance and friction between the wire and Teflon-coated conduit. We compensate for the backlash in the tool joints by adding the backlash inverse with smoothing term as a feedforward term.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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