Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints.
Identifieur interne : 000937 ( PubMed/Checkpoint ); précédent : 000936; suivant : 000938Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints.
Auteurs : Ka-Wai Kwok [Royaume-Uni] ; Kuen Hung Tsoi [Royaume-Uni] ; Valentina Vitiello [Royaume-Uni] ; James Clark [Royaume-Uni] ; Gary C T. Chow [Royaume-Uni] ; Wayne Luk [Royaume-Uni] ; Guang-Zhong Yang [Royaume-Uni]Source :
- IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society [ 1552-3098 ] ; 2013.
Abstract
This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake robot represented as a set of control vertices. The proposed PQ formulation is implemented on a graphic processing unit, allowing for fast updates over 1 kHz. We also demonstrate that the robot joint space can be characterized into lower dimensional space for smooth articulation. A novel motion parameterization scheme in polar coordinates is proposed to describe the transition of motion, thus allowing for direct manual control of the robot using standard interface devices with limited degrees of freedom. Under the proposed framework, the correct alignment between the visual and motor axes is ensured, and haptic guidance is provided to prevent excessive force applied to the tissue by the robot body. A resistance force is further incorporated to enhance smooth pursuit movement matched to the dynamic response and actuation limit of the robot. To demonstrate the practical value of the proposed platform with enhanced ergonomic control, detailed quantitative performance evaluation was conducted on a group of subjects performing simulated intraluminal and intracavity endoscopic tasks.
DOI: 10.1109/TRO.2012.2226382
PubMed: 24741371
Affiliations:
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Chow</name><affiliation wicri:level="1"><nlm:affiliation>Department of Computing, Imperial College London, London SW7 2AZ, U.K.</nlm:affiliation><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Department of Computing, Imperial College London, London SW7 2AZ</wicri:regionArea><wicri:noRegion>London SW7 2AZ</wicri:noRegion></affiliation></author><author><name sortKey="Luk, Wayne" sort="Luk, Wayne" uniqKey="Luk W" first="Wayne" last="Luk">Wayne Luk</name><affiliation wicri:level="1"><nlm:affiliation>Department of Computing, Imperial College London, London SW7 2AZ, U.K.</nlm:affiliation><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Department of Computing, Imperial College London, London SW7 2AZ</wicri:regionArea><wicri:noRegion>London SW7 2AZ</wicri:noRegion></affiliation></author><author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name><affiliation wicri:level="1"><nlm:affiliation>Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, U.K.</nlm:affiliation><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ</wicri:regionArea><wicri:noRegion>London SW7 2AZ</wicri:noRegion></affiliation></author></analytic><series><title level="j">IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society</title><idno type="ISSN">1552-3098</idno><imprint><date when="2013" type="published">2013</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake robot represented as a set of control vertices. The proposed PQ formulation is implemented on a graphic processing unit, allowing for fast updates over 1 kHz. We also demonstrate that the robot joint space can be characterized into lower dimensional space for smooth articulation. A novel motion parameterization scheme in polar coordinates is proposed to describe the transition of motion, thus allowing for direct manual control of the robot using standard interface devices with limited degrees of freedom. Under the proposed framework, the correct alignment between the visual and motor axes is ensured, and haptic guidance is provided to prevent excessive force applied to the tissue by the robot body. A resistance force is further incorporated to enhance smooth pursuit movement matched to the dynamic response and actuation limit of the robot. To demonstrate the practical value of the proposed platform with enhanced ergonomic control, detailed quantitative performance evaluation was conducted on a group of subjects performing simulated intraluminal and intracavity endoscopic tasks.</div></front></TEI><pubmed><MedlineCitation Status="Publisher" Owner="NLM"><PMID Version="1">24741371</PMID><DateCreated><Year>2014</Year><Month>4</Month><Day>17</Day></DateCreated><Article PubModel="Print"><Journal><ISSN IssnType="Print">1552-3098</ISSN><JournalIssue CitedMedium="Print"><Volume>29</Volume><Issue>1</Issue><PubDate><Year>2013</Year><Month>Feb</Month><Day>1</Day></PubDate></JournalIssue><Title>IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society</Title><ISOAbbreviation>IEEE Trans Robot</ISOAbbreviation></Journal><ArticleTitle>Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints.</ArticleTitle><Pagination><MedlinePgn>15-31</MedlinePgn></Pagination><Abstract><AbstractText>This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake robot represented as a set of control vertices. The proposed PQ formulation is implemented on a graphic processing unit, allowing for fast updates over 1 kHz. We also demonstrate that the robot joint space can be characterized into lower dimensional space for smooth articulation. A novel motion parameterization scheme in polar coordinates is proposed to describe the transition of motion, thus allowing for direct manual control of the robot using standard interface devices with limited degrees of freedom. Under the proposed framework, the correct alignment between the visual and motor axes is ensured, and haptic guidance is provided to prevent excessive force applied to the tissue by the robot body. A resistance force is further incorporated to enhance smooth pursuit movement matched to the dynamic response and actuation limit of the robot. To demonstrate the practical value of the proposed platform with enhanced ergonomic control, detailed quantitative performance evaluation was conducted on a group of subjects performing simulated intraluminal and intracavity endoscopic tasks.</AbstractText></Abstract><AuthorList><Author><LastName>Kwok</LastName><ForeName>Ka-Wai</ForeName><Initials>KW</Initials><AffiliationInfo><Affiliation>Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, U.K. kkwok@imperial.ac.uk.</Affiliation></AffiliationInfo></Author><Author><LastName>Tsoi</LastName><ForeName>Kuen Hung</ForeName><Initials>KH</Initials><AffiliationInfo><Affiliation>Department of Computing, Imperial College London, London SW7 2AZ, U.K.</Affiliation></AffiliationInfo></Author><Author><LastName>Vitiello</LastName><ForeName>Valentina</ForeName><Initials>V</Initials><AffiliationInfo><Affiliation>Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, U.K.</Affiliation></AffiliationInfo></Author><Author><LastName>Clark</LastName><ForeName>James</ForeName><Initials>J</Initials><AffiliationInfo><Affiliation>Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, U.K.</Affiliation></AffiliationInfo></Author><Author><LastName>Chow</LastName><ForeName>Gary C T</ForeName><Initials>GC</Initials><AffiliationInfo><Affiliation>Department of Computing, Imperial College London, London SW7 2AZ, U.K.</Affiliation></AffiliationInfo></Author><Author><LastName>Luk</LastName><ForeName>Wayne</ForeName><Initials>W</Initials><AffiliationInfo><Affiliation>Department of Computing, Imperial College London, London SW7 2AZ, U.K.</Affiliation></AffiliationInfo></Author><Author><LastName>Yang</LastName><ForeName>Guang-Zhong</ForeName><Initials>GZ</Initials><AffiliationInfo><Affiliation>Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, U.K.</Affiliation></AffiliationInfo></Author></AuthorList><Language>ENG</Language><GrantList><Grant><GrantID>083689</GrantID><Agency>Wellcome Trust</Agency><Country>United Kingdom</Country></Grant></GrantList><PublicationTypeList><PublicationType UI="">JOURNAL ARTICLE</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><MedlineTA>IEEE Trans Robot</MedlineTA><NlmUniqueID>101514509</NlmUniqueID><ISSNLinking>1552-3098</ISSNLinking></MedlineJournalInfo><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">Dynamic active constraints (DACs)</Keyword><Keyword MajorTopicYN="N">haptic interaction</Keyword><Keyword MajorTopicYN="N">hyper-redundant robot</Keyword><Keyword MajorTopicYN="N">proximity queries (PQs)</Keyword><Keyword MajorTopicYN="N">snake robot</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2014</Year><Month>4</Month><Day>18</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2013</Year><Month>2</Month><Day>1</Day><Hour>0</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2013</Year><Month>2</Month><Day>1</Day><Hour>0</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/TRO.2012.2226382</ArticleId><ArticleId IdType="pubmed">24741371</ArticleId><ArticleId IdType="pmc">PMC3985322</ArticleId><ArticleId IdType="mid">EMS57870</ArticleId></ArticleIdList><pmc-dir>nihms</pmc-dir>
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