Active constraint control for the surgical robotic platform with concentric connector joints

Article


Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. 2024. Active constraint control for the surgical robotic platform with concentric connector joints. Medical Engineering & Physics. 132 (Art. 104236). https://doi.org/10.1016/j.medengphy.2024.104236
AuthorsMorad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R.
Abstract

Robotic minimally invasive surgery (MIS) has changed numerous surgical techniques in the past few years and enhanced their results. Haptic feedback is integrated into robotic surgical systems to restore the surgeon's perception of forces in response to interaction with objects in the surgical environment. The ideal exact emulation of the robot's interaction with its physical environment in free space is a very challenging problem to solve completely. Previously, we introduced the surgical robotic platform (SRP) with a novel concentric connector joint (CCJ). This study aims to develop a haptic control system that integrates an active constraint controller into a surgical robot platform. We have successfully established haptic feedback control for the surgical robot using constraint control and inverse kinematic relationships integrated into the overall positioning structure. A preliminary feasibility study, modelling, and simulation were presented.

JournalMedical Engineering & Physics
Journal citation132 (Art. 104236)
ISSN1350-4533
1873-4030
Year2024
PublisherElsevier
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Anyone
Digital Object Identifier (DOI)https://doi.org/10.1016/j.medengphy.2024.104236
Publication dates
Online02 Sep 2024
Publication process dates
Accepted02 Sep 2024
Deposited12 Nov 2024
Copyright holder© 2024 The Authors
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