Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

Teleoperation in Robot-assisted MIS with Adaptive RCM via Admittance Control

Ehsan Nasiri, Srikarran Sowrirajan, Long Wang

TL;DR

This work addresses robot-assisted MIS where the remote center of motion (RCM) constraint is dynamic due to patient motion. It introduces a teleoperation framework that combines adaptive admittance control with a redundancy-resolution strategy to maintain RCM while enabling full 6-DoF telemanipulation of a 7-DoF manipulator and a 4-DoF instrument. An open-source Instrument Module (IM) with an F/T sensor and a 4-DoF cable-driven instrument, integrated via ROS2 and micro-ROS, enables compact, repeatable deployment. Experimental validation across pick-and-place, thread passing, and trajectory-tracking tasks demonstrates robust performance under moving RCM constraints, highlighting potential improvements in MIS setup time and precision.

Abstract

This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance control. This framework operates within a redundancy resolution method specifically designed for the RCM constraint. We introduce a compact, low-cost, and modular custom-designed instrument module (IM) that ensures integration with the manipulator, featuring a force-torque sensor, a surgical instrument, and an actuation unit for driving the surgical instrument. The paper details the complete teleoperation framework, including the telemanipulation trajectory mapping, kinematic modelling, control strategy, and the integrated admittance controller. Finally, the system capability to perform various surgical tasks was demonstrated, including passing a thread through the rings, picking and placing objects, and trajectory tracking.

Teleoperation in Robot-assisted MIS with Adaptive RCM via Admittance Control

TL;DR

This work addresses robot-assisted MIS where the remote center of motion (RCM) constraint is dynamic due to patient motion. It introduces a teleoperation framework that combines adaptive admittance control with a redundancy-resolution strategy to maintain RCM while enabling full 6-DoF telemanipulation of a 7-DoF manipulator and a 4-DoF instrument. An open-source Instrument Module (IM) with an F/T sensor and a 4-DoF cable-driven instrument, integrated via ROS2 and micro-ROS, enables compact, repeatable deployment. Experimental validation across pick-and-place, thread passing, and trajectory-tracking tasks demonstrates robust performance under moving RCM constraints, highlighting potential improvements in MIS setup time and precision.

Abstract

This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance control. This framework operates within a redundancy resolution method specifically designed for the RCM constraint. We introduce a compact, low-cost, and modular custom-designed instrument module (IM) that ensures integration with the manipulator, featuring a force-torque sensor, a surgical instrument, and an actuation unit for driving the surgical instrument. The paper details the complete teleoperation framework, including the telemanipulation trajectory mapping, kinematic modelling, control strategy, and the integrated admittance controller. Finally, the system capability to perform various surgical tasks was demonstrated, including passing a thread through the rings, picking and placing objects, and trajectory tracking.
Paper Structure (20 sections, 31 equations, 8 figures, 2 tables)

This paper contains 20 sections, 31 equations, 8 figures, 2 tables.

Table of Contents

  1. Introduction
  2. Kinematic Modeling
  3. Forward Kinematics
  4. Constrained Kinematics
  5. Redundancy Resolution
  6. Admittance Control
  7. Teleoperation
  8. Haptic Device as User Interface
  9. Trajectory Mapping
  10. Resolved Rate Algorithm
  11. System Control Architecture
  12. Instrument Module
  13. Design Features
  14. Mechanical Design
  15. Electronics Development
  16. ...and 5 more sections

Figures (8)

  • Figure 1: System architecture includes a 7-DoF manipulator, custom-designed Instrument Module (IM), haptic stylus device, and the surgical kit
  • Figure 2: Coordinate frames utilized in the kinematics modeling
  • Figure 3: Surgical instrument joints and their axis of rotation
  • Figure 4: Teleoperation control architecture of the surgical manipulator system.
  • Figure 5: 3D Systems Touch haptic stylus reference frames.
  • ...and 3 more figures