Publication

Null space redundancy learning for a flexible surgical robot

2014
Conference Papers

Abstract

A new challenge for surgical robotics is placed in the use of flexible manipulators, to perform procedures that are impossible for currently available rigid robots. Since the surgeon only controls the end-effector of the manipulator, new control strategies need to be developed to correctly move its flexible body without damaging the surrounding environment. This paper shows how a positional controller for a new surgical robot (STIFF-FLOP) can be learnt from the demonstrations given by an expert user. The proposed algorithm exploits the variability of the task to comply with the constraints only when needed, by implementing a minimal intervention principle control strategy. The results are applied to scenarios involving movements inside a constrained environment and disturbance rejection.

Official source

https://infoscience.epfl.ch/entities/publication/554dcef3-6bd2-4d98-bf88-c5f7669a5edc

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2014
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/554dcef3-6bd2-4d98-bf88-c5f7669a5edc

About this result

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Robot-assisted surgery or robotic surgery are any types of surgical procedures that are performed using robotic systems. Robotically assisted surgery was developed to try to overcome the limitations of pre-existing minimally-invasive surgical procedures and to enhance the capabilities of surgeons performing open surgery. In the case of robotically assisted minimally-invasive surgery, instead of the surgeon directly moving the instruments, the surgeon uses one of two methods to perform dissection, hemostasis and resection, using a direct telemanipulator, or through computer control.

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