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

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 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02061337
Contributor : Philippe Fraisse <>
Submitted on : Friday, March 8, 2019 - 9:19:18 AM
Last modification on : Tuesday, March 12, 2019 - 1:21:25 AM

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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, IEEE 2018, 3 (3), pp.2501-2508. ⟨10.1109/LRA.2018.2812907⟩. ⟨lirmm-02061337⟩

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