Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2018

Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

Résumé

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 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.
Fichier principal
Vignette du fichier
final version not annotated open access.pdf (3.89 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

lirmm-02061337 , version 1 (21-04-2021)

Identifiants

Citer

Pierre Berthet-Rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, et al.. Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery. IEEE Robotics and Automation Letters, 2018, 3 (3), pp.2501-2508. ⟨10.1109/LRA.2018.2812907⟩. ⟨lirmm-02061337⟩
138 Consultations
203 Téléchargements

Altmetric

Partager

More