Safety-Enhanced Human-Robot Interaction Control of Redundant Robot for Teleoperated Minimally Invasive Surgery

In this paper, a teleoperation control of a 7-DoF robot manipulator for Minimally Invasive Surgery (MIS), which guarantees a safety-enhanced compliant behavior in the null space, is described. The redundancy of the manipulator is exploited to provide a flexible workspace for nurses or other staff (assisting physicians, patient support). The issue with safety and accurate surgical task execution may arise in the presence of human-robot interaction. Based on the implemented impedance control of tele-operated MIS tasks, a safety enhanced constraint is applied on the compliant null space motion. At the same time, the control approach integrates an adaptive fuzzy compensator to guarantee the accuracy of the surgical tasks during the uncertain human-robot interaction. The performance of the proposed algorithm is verified with virtual surgical tasks. The results showed that the compliant null space motion is constrained in a safe area, and also that the accuracy of tool tip is improved, providing a flexible and safe collaborative behavior in the null space for human-robot interaction during surgical tasks.

[1]  Alexander Dietrich,et al.  Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy , 2012, IEEE Transactions on Robotics.

[2]  Guanglin Li,et al.  EMG-Based Neural Network Control of an Upper-Limb Power-Assist Exoskeleton Robot , 2013, ISNN.

[3]  Shuzhi Sam Ge,et al.  Adaptive Fuzzy Control of a Class of Nonlinear Systems by Fuzzy Approximation Approach , 2012, IEEE Transactions on Fuzzy Systems.

[4]  Francisco José Madrid-Cuevas,et al.  Automatic generation and detection of highly reliable fiducial markers under occlusion , 2014, Pattern Recognit..

[5]  Guanglin Li,et al.  Fuzzy Approximation-Based Adaptive Backstepping Control of an Exoskeleton for Human Upper Limbs , 2015, IEEE Transactions on Fuzzy Systems.

[6]  Hongbin Zhang,et al.  Adaptive fuzzy control of operation space constrained exoskeletons under unmodelled dynamics , 2014, Proceeding of the 11th World Congress on Intelligent Control and Automation.

[7]  Bruno Siciliano,et al.  Task-Space Control of Robot Manipulators With Null-Space Compliance , 2014, IEEE Transactions on Robotics.

[8]  G Ferrigno,et al.  Robotic and artificial intelligence for keyhole neurosurgery: The ROBOCAST project, a multi-modal autonomous path planner , 2010, Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine.

[9]  Giancarlo Ferrigno,et al.  Optically tracked multi-robot system for keyhole neurosurgery , 2011, 2011 IEEE International Conference on Robotics and Automation.

[10]  G. Oriolo,et al.  Task control with remote center of motion constraint for minimally invasive robotic surgery , 2013, 2013 IEEE International Conference on Robotics and Automation.

[11]  Li-Xin Wang,et al.  Stable adaptive fuzzy control of nonlinear systems , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[12]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[13]  Rajnikant V. Patel,et al.  Optimal Remote Center-of-Motion Location for Robotics-Assisted Minimally-Invasive Surgery , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[14]  Shuai Li,et al.  Manipulability Optimization of Redundant Manipulators Using Dynamic Neural Networks , 2017, IEEE Transactions on Industrial Electronics.

[15]  A. Lanfranco,et al.  Robotic Surgery: A Current Perspective , 2004, Annals of surgery.

[16]  Kazuhiro Kosuge,et al.  Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution , 2008, IEEE Transactions on Robotics.

[17]  G. Schreiber,et al.  The Fast Research Interface for the KUKA Lightweight Robot , 2022 .

[18]  Gentiane Venture,et al.  Exploiting the Robot Kinematic Redundancy for Emotion Conveyance to Humans as a Lower Priority Task , 2017, Int. J. Soc. Robotics.