3D Path Following with Remote Center of Motion Constraints

Bassem Dahroug, Brahim Tamadazte, Nicolas Andreff

Abstract

The remote center of motion (RCM) is an essential issue during minimal invasive surgery where the surgeon manipulates a medical instrument inside the human body. It is important to assure that the tool should not apply forces on the incision wall in order to prevent patient harm. The paper shows a geometric method computing the intended robot velocity vector for respecting the RCM constraints. In addition, the proposed solution deals with the latter constraints as the highest task priority. A second task function is added, which is projected in the null space on the first task, to follow a 3D path inside the cavity. As result, this method helps the surgeon to execute more sophisticated motion within the patient body with high accuracy; since the results shows standard deviation around 0.004mm and 0.089mm of RCM task error and positioning task error, respectively.

References

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Paper Citation


in Harvard Style

Dahroug B., Tamadazte B. and Andreff N. (2016). 3D Path Following with Remote Center of Motion Constraints . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 84-91. DOI: 10.5220/0005980900840091


in Bibtex Style

@conference{icinco16,
author={Bassem Dahroug and Brahim Tamadazte and Nicolas Andreff},
title={3D Path Following with Remote Center of Motion Constraints},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={84-91},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005980900840091},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - 3D Path Following with Remote Center of Motion Constraints
SN - 978-989-758-198-4
AU - Dahroug B.
AU - Tamadazte B.
AU - Andreff N.
PY - 2016
SP - 84
EP - 91
DO - 10.5220/0005980900840091