Berthet-Rayne Pierre, Yang Guang-Zhong
The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom.
Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China.
Front Robot AI. 2023 Jun 12;10:1211876. doi: 10.3389/frobt.2023.1211876. eCollection 2023.
Master-Slave control is a common mode of operation for surgical robots as it ensures that surgeons are always in control and responsible for the procedure. Most teleoperated surgical systems use low degree-of-freedom (DOF) instruments, thus facilitating direct mapping of manipulator position to the instrument pose and tip location (tip-to-tip mapping). However, with the introduction of continuum and snake-like robots with much higher DOF supported by their inherent redundant architecture for navigating through curved anatomical pathways, there is a need for developing effective kinematic methods that can actuate all the joints in a controlled fashion. This paper introduces the concept of navigation with Minimal Occupation VolumE (MOVE), a teleoperation method that extends the concept of follow-the-leader navigation. It defines the path taken by the head while using all the available space surrounding the robot constrained by individual joint limits. The method was developed for the robot and validated with detailed simulation and control experiments. The results validate key performance indices such as path following, body weights, path weights, fault tolerance and conservative motion. The MOVE solver can run in real-time on a standard computer at frequencies greater than 1 kHz.
主从控制是手术机器人常见的操作模式，因为它确保外科医生始终掌控手术过程并对其负责。大多数远程操作手术系统使用低自由度（DOF）器械，从而便于将操纵器位置直接映射到器械姿态和尖端位置（尖端到尖端映射）。然而，随着具有更高自由度的连续体和蛇形机器人的引入，它们通过其固有的冗余架构支持在弯曲的解剖路径中导航，因此需要开发有效的运动学方法，能够以可控方式驱动所有关节。本文介绍了最小占用体积导航（MOVE）的概念，这是一种扩展了跟随领导者导航概念的远程操作方法。它定义了在使用受各个关节限制约束的机器人周围所有可用空间时头部所采取的路径。该方法是针对该机器人开发的，并通过详细的模拟和控制实验进行了验证。结果验证了诸如路径跟踪、身体权重、路径权重、容错和保守运动等关键性能指标。MOVE求解器可以在标准计算机上以大于1 kHz的频率实时运行。
