Pose Tracking of Supermicrosurgical Robot Towards Multi-User Teleoperation

Annu Int Conf IEEE Eng Med Biol Soc. 2023 Jul:2023:1-4. doi: 10.1109/EMBC40787.2023.10339969.

Abstract

This paper presents pose tracking experiments using a supermicrosurgical robot designed to consider teleoperation with multiple surgeons. Currently, existing supermicrosurgical robots assist only the primary surgeon. However, both primary and assistant surgeons need a high-precision motion for critical tasks that can easily damage microtissue. To assist multiple surgeons in supermicrosurgery with a surgical robot, dynamic collision avoidance becomes a critical issue due to the operation in a narrow surgical site. As a milestone to overcome this issue, we first developed a pose tracking algorithm by analyzing the inverse kinematics based on null-space control and a weighting matrix. Moreover, we also developed a control framework based on fully open-source software to run the pose tracking algorithm. Finally, we validated the proposed pose tracking algorithm by performing line tracing and rubber ring transferring experiments.

Publication types

  • Research Support, Non-U.S. Gov't

MeSH terms

  • Algorithms
  • Motion
  • Robotics*
  • Software
  • Surgery, Computer-Assisted*