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ICRA
2006
IEEE

Constrained Control for Surgical Assistant Robots

14 years 5 months ago
Constrained Control for Surgical Assistant Robots
— This paper presents an approach to implement virtual fixtures for surgical robot assistants. Our approach uses a weighted, multi-objective (both linear and nonlinear) constrained optimization framework to formalize a library of virtual fixtures for task primitives. By our formulation, we provide a library of virtual fixtures on task primitives and a way to assemble multiple virtual fixture objects. We implement the constrained optimization problem with both linear and nonlinear constraints, and discuss the trade-offs between them. Moreover, we introduce the notion of “soft” virtual fixture mechanism for robotic surgical assistance. The “soft” virtual fixtures enable a surgical tool to have some resistance inside safety regions and no resistance in preferred regions.
Ankur Kapoor, Ming Li, Russell H. Taylor
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Ankur Kapoor, Ming Li, Russell H. Taylor
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