Dynamic Motion Planning for Autonomous Assistive Surgical Robots

The paper addresses the problem of the generation of collision-free trajectories for a robotic manipulator, operating in a scenario in which obstacles may be moving at non-negligible velocities. In particular, the paper aims to present a trajectory generation solution that is fully executable in real-time and that can reactively adapt to both dynamic changes of the environment and fast reconfiguration of the robotic task. The proposed motion planner extends the method based on a dynamical system to cope with the peculiar kinematics of surgical robots for laparoscopic operations, the mechanical constraint being enforced by the fixed point of insertion into the abdomen of the patient the most challenging aspect. The paper includes a validation of the trajectory generator in both simulated and experimental scenarios.

[1]  Aude Billard,et al.  Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction , 2019, IEEE Robotics and Automation Letters.

[2]  Francesco Leali,et al.  Survey on human–robot collaboration in industrial settings: Safety, intuitive interfaces and applications , 2018, Mechatronics.

[3]  Yassine Salih Alj,et al.  StapBot: An autonomous surgical suturing robot using staples , 2014, 2014 International Conference on Multimedia Computing and Systems (ICMCS).

[4]  Peter Kazanzides,et al.  Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy , 2017, Science Robotics.

[5]  Haifeng Luo,et al.  Suturing and tying knots assisted by a surgical robot system in laryngeal MIS , 2009, Robotica.

[6]  Pieter Abbeel,et al.  Planning locally optimal, curvature-constrained trajectories in 3D using sequential convex optimization , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[7]  Aude Billard,et al.  A dynamical system approach to realtime obstacle avoidance , 2012, Autonomous Robots.

[8]  Jun Nakanishi,et al.  Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors , 2013, Neural Computation.

[9]  Lorenzo Sabattini,et al.  A variable admittance control strategy for stable physical human–robot interaction , 2019, Int. J. Robotics Res..

[10]  Riccardo Muradore,et al.  A Cognitive Robot Control Architecture for Autonomous Execution of Surgical Tasks , 2016, J. Medical Robotics Res..

[11]  Pieter Abbeel,et al.  Autonomous multilateral debridement with the Raven surgical robot , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[12]  Marcello Bonfè,et al.  Bilateral teleoperation of a dual arms surgical robot with passive virtual fixtures generation , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[13]  Antonio Visioli,et al.  Planning and real-time modifications of a trajectory using spline techniques , 2003, Robotica.

[14]  Oliver Brock,et al.  Elastic Strips: A Framework for Motion Generation in Human Environments , 2002, Int. J. Robotics Res..

[15]  Vladimir J. Lumelsky,et al.  On Fast Computation of Distance Between Line Segments , 1985, Information Processing Letters.

[16]  Ankush Gupta,et al.  A case study of trajectory transfer through non-rigid registration for a simplified suturing scenario , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Lorenzo Sabattini,et al.  Variable admittance control preventing undesired oscillating behaviors in physical human-robot interaction , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[18]  Thierry Fraichard,et al.  Navigating Dynamic Environments with Trajectory Deformation , 2009, J. Comput. Inf. Technol..

[19]  Corrado Guarino Lo Bianco,et al.  Nonlinear Variable Structure Filter for the Online Trajectory Scaling , 2009, IEEE Transactions on Industrial Electronics.

[20]  Riccardo Muradore,et al.  An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery , 2015, IEEE Transactions on Robotics.

[21]  Lydia E. Kavraki,et al.  The Open Motion Planning Library , 2012, IEEE Robotics & Automation Magazine.

[22]  Corrado Guarino Lo Bianco,et al.  Nonlinear filters for the generation of smooth trajectories , 2000, Autom..

[23]  Cristian Secchi,et al.  A Passivity-Based Strategy for Manual Corrections in Human-Robot Coaching , 2019, Electronics.

[24]  T. Varma,et al.  Use of the NeuroMate stereotactic robot in a frameless mode for functional neurosurgery , 2006, The international journal of medical robotics + computer assisted surgery : MRCAS.

[25]  Bruno Siciliano,et al.  Autonomy in surgical robots and its meaningful human control , 2019, Paladyn J. Behav. Robotics.

[26]  Paolo Fiorini,et al.  Motion Planning in Dynamic Environments Using Velocity Obstacles , 1998, Int. J. Robotics Res..

[27]  Riccardo Muradore,et al.  Development of a Cognitive Robotic System for Simple Surgical Tasks , 2015 .

[28]  Philippe Zanne,et al.  Stitching Planning in Laparoscopic Surgery: Towards Robot-assisted Suturing , 2009, Int. J. Robotics Res..

[29]  Elizabeth A. Croft,et al.  Jerk-bounded manipulator trajectory planning: design for real-time applications , 2003, IEEE Trans. Robotics Autom..

[30]  Aude Billard,et al.  Learning Stable Nonlinear Dynamical Systems With Gaussian Mixture Models , 2011, IEEE Transactions on Robotics.