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Communication Dans Un Congrès Année : 2016

3D Path Following with Remote Center of Motion Constraints .

Résumé

Remote center of motion is an essential motion during minimal invasive surgery where the surgeon manipulates a medical instrument inside the human body. It is important to ensure that the tool should not apply forces on the incision wall in order to prevent patient harm. The paper shows a geometric method that computes the desired robot velocity vector for respecting the incision hole constraints. In addition, the solution arranges the latter constraints as the highest task priority. A second task function is added, which is projected in the null space on the first one, to follow a 3D path inside the cavity. As result, this method helps the surgeon to execute more complex motion within the patient body with high accuracy; since the results shows standard deviation around 8μm and 0:257mm of RCM task error and positioning task error, respectively.
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Dates et versions

hal-02868201 , version 1 (15-06-2020)

Identifiants

  • HAL Id : hal-02868201 , version 1

Citer

Bassem Dahroug, Brahim Tamadazte, Nicolas Andreff. 3D Path Following with Remote Center of Motion Constraints .. International Conference on Informatics in Control, Automation and Robotics, Jul 2016, Lisbon, Portugal. ⟨hal-02868201⟩
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