A two-layer approach for shared control in semi-autonomous robotic surgery

In autonomous robotic surgery, the supervision of the surgeon cannot be avoided due to the unforeseenable emergencies and complications that can take place during an operation. When necessary, the surgeon has to take over the surgical system switching it from an autonomous mode to a teleoperation mode. In this paper we propose a two-layer bilateral control architecture that ensures a safe behavior during the switch and high performance during the teleoperation. Experiments are proposed for validating the architecture proposed in the paper.

[1]  K. M. Deliparaschos,et al.  Evolution of autonomous and semi‐autonomous robotic surgical systems: a review of the literature , 2011, The international journal of medical robotics + computer assisted surgery : MRCAS.

[2]  M. Bonfe,et al.  Towards automated surgical robotics: A requirements engineering approach , 2012, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[3]  Min,et al.  Position Drift Compensation in Time Domain Passivity based Teleoperation , 2010 .

[4]  Tsuneo Yoshikawa,et al.  Operation modes for cooperating with autonomous functions in intelligent teleoperation systems , 1992, [1992] Proceedings IEEE International Workshop on Robot and Human Communication.

[5]  Antonio Franchi,et al.  A passivity-based decentralized strategy for generalized connectivity maintenance , 2013, Int. J. Robotics Res..

[6]  Cristian Secchi,et al.  A tank-based approach to impedance control with variable stiffness , 2013, 2013 IEEE International Conference on Robotics and Automation.

[7]  Stefano Stramigioli,et al.  Position Drift Compensation in Port-Hamiltonian Based Telemanipulation , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Cesáreo Raimúndez,et al.  Passive position error correction in Internet-based teleoperation , 2010, Autom..

[9]  Antonio Franchi,et al.  Bilateral teleoperation of a group of UAVs with communication delays and switching topology , 2012, 2012 IEEE International Conference on Robotics and Automation.

[10]  Martin Buss,et al.  Control mode switching for teledrilling based on a hybrid system model , 1997, Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[11]  Operation Modes and Control Schemes for a Telerobot with Time Delay , 2012 .

[12]  Robert J. Anderson,et al.  Autonomous, teleoperated, and shared control of robot systems , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[13]  Stefano Stramigioli,et al.  Compensation of position errors in passivity based teleoperation over packet switched communication networks , 2008 .

[14]  Antonio Franchi,et al.  Bilateral Teleoperation of Groups of Mobile Robots With Time-Varying Topology , 2012, IEEE Transactions on Robotics.

[15]  Stefano Stramigioli,et al.  Bilateral Telemanipulation With Time Delays: A Two-Layer Approach Combining Passivity and Transparency , 2011, IEEE Transactions on Robotics.

[16]  Dongjun Lee,et al.  Passive-Set-Position-Modulation Framework for Interactive Robotic Systems , 2010, IEEE Transactions on Robotics.

[17]  Stefano Stramigioli,et al.  Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach (Springer Tracts in Advanced Robotics) , 2007 .