Supervisory control of a DaVinci surgical robot

This paper presents an approach to supervisory control of a DaVinci surgical robot. At present, such robots are controlled by teleoperation, with dissimilar kinematics of the operator interface vs. the robot. As a result, it can be difficult for the operator to visualize the kinematic restrictions on the robot, particularly for desired extended, precise trajectories, such as circular needle driving. The interface presented here constitutes a means to elevate the operator from teleoperation mode to supervisory mode. The operator interacts directly with a point-cloud display, allowing selection of task specifications from which the system automatically computes and executes precise trajectories to achieve the task goals. The intent is to allow the operator to focus on task specifications and rely on automation to achieve faster and more precise execution.

[1]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[2]  Donald L Peiper.  THE KINEMATICS OF MANIPULATORS UNDER COMPUTER CONTROL , 1968 .

[3]  Charles A. Klein,et al.  Review of pseudoinverse control for use with kinematically redundant manipulators , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  Norman I. Badler,et al.  Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs , 2000, Graph. Model..

[5]  John Kenneth Salisbury,et al.  The Intuitive/sup TM/ telesurgery system: overview and application , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[6]  Stefan Schaal,et al.  Learning inverse kinematics , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[7]  M Hashizume,et al.  Preoperative planning system for surgical robotics setup with kinematics and haptics , 2005, The international journal of medical robotics + computer assisted surgery : MRCAS.

[8]  Tamim Asfour,et al.  An integrated approach to inverse kinematics and path planning for redundant manipulators , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[9]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[10]  A. Park,et al.  Patients benefit while surgeons suffer: an impending epidemic. , 2010, Journal of the American College of Surgeons.

[11]  Murat Cenk Cavusoglu,et al.  Needle path planning for autonomous robotic surgical suturing , 2013, 2013 IEEE International Conference on Robotics and Automation.

[12]  S. DiMaio,et al.  An Open-Source Hardware and Software Platform for Telesurgical Robotics Research , 2013, The MIDAS Journal.

[13]  Wyatt S. Newman,et al.  Improved knot-tying methods for autonomous robot surgery , 2013, 2013 IEEE International Conference on Automation Science and Engineering (CASE).

[14]  Nabil Simaan,et al.  Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots , 2014, Robotica.

[15]  Chang-Hun Kim,et al.  RViz: a toolkit for real domain data visualization , 2015, Telecommunication Systems.

[16]  Gorjan Alagic,et al.  #p , 2019, Quantum information & computation.