Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments
Identifieur interne : 001243 ( Pmc/Corpus ); précédent : 001242; suivant : 001244Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments
Auteurs : Dongwen Zhang ; Qingsong Zhu ; Jing Xiong ; Lei WangSource :
- BioMedical Engineering OnLine [ 1475-925X ] ; 2014.
Abstract
In a deforming anatomic environment, the motion of an instrument suffers from complex geometrical and dynamic constraints, robot assisted minimally invasive surgery therefore requires more sophisticated skills for surgeons. This paper proposes a novel dynamic virtual fixture (DVF) to enhance the surgical operation accuracy of admittance-type medical robotics in the deforming environment.
A framework for DVF on the Euclidean Group
The DVF can improve the dynamic properties of human-robot cooperation in a low-frequency (0 ~ 40 rad/sec) deforming environment, and maintain synergy of orientation and translation during the operation. Statistical analysis reveals that the operator has intuitive control over the preferred directions, human and the DVF controller jointly control the motion along the non-preferred directions, the target deformation is tracked actively.
The proposed DVF for an admittance-type manipulator is capable of assisting the operator to deal with skilled operations in a deforming environment.
Url:
DOI: 10.1186/1475-925X-13-51
PubMed: 24767578
PubMed Central: 4041146
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