21 December 1993 Optimal motion control for teleoperated surgical robots
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Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164902
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States
Abstract
This paper addresses the problem of optimal motion control for teleoperated surgical robots, which must maneuver in constrained workspaces. The control problem is determining how best to use the available degrees of freedom of a surgical robot to accomplish a particular task, while respecting geometric constraints on the work volume, robot mechanism, and the specific task requirements. We present a method of formulating desired motions in the task space (task space goals) as instances of a quadratic optimization problem, optionally subject to additional linear constraints. The control formalism applies both to kinematically deficient as well as kinematically redundant mechanisms. Specifically, we discuss the problem as it relates to a representative set of tasks in teleoperated navigation of a laparoscopic camera attached to a surgical robot.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Janez Funda, Janez Funda, Russell H. Taylor, Russell H. Taylor, Kreg Gruben, Kreg Gruben, David LaRose, David LaRose, } "Optimal motion control for teleoperated surgical robots", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164902; https://doi.org/10.1117/12.164902
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