Active constrained motion control for a robot-assisted endoscope manipulator in pediatric minimal access surgery.
Active constrained motion control
Limited working space
Minimal pediatric access surgery
Robot-assisted laparoscopic surgery
Tool–tissue interaction
Journal
Journal of robotic surgery
ISSN: 1863-2491
Titre abrégé: J Robot Surg
Pays: England
ID NLM: 101300401
Informations de publication
Date de publication:
24 Oct 2024
24 Oct 2024
Historique:
received:
10
07
2024
accepted:
05
10
2024
medline:
24
10
2024
pubmed:
24
10
2024
entrez:
23
10
2024
Statut:
epublish
Résumé
Robot-assisted laparoscopic surgery has three main system requirements: safety, simplicity, and intuitiveness. However, accidental movement of the endoscope due to body fatigue and misunderstanding of the verbal orders between the surgeon and assistant will contribute to highly unexpected tool-tissue interactions, particularly in pediatric minimal access surgery with restricted working space. This study introduces a compact, lightweight endoscope manipulator with a mechanical remote-center-motion function. Using a custom-designed human-machine interface, the surgeon can intuitively control the movement of the endoscope manipulator over their view. In addition, an active constrained motion control algorithm is proposed to generate a forbidden-region constraint for avoiding collisions between the endoscope tip and surrounding organs in a pediatric abdominal cavity with restricted space. Simulations and experiments demonstrate the performance of the proposed compact endoscope manipulator and the active constrained surface tracking control scheme.
Identifiants
pubmed: 39443406
doi: 10.1007/s11701-024-02132-0
pii: 10.1007/s11701-024-02132-0
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
378Subventions
Organisme : Project of Zhongshan Hospital Smart Medical under Grant
ID : 2020ZHZS27
Organisme : the Projects of the Shanghai Science and Technology Committee
ID : 21S31906100
Informations de copyright
© 2024. The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature.
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