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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
Published on: June 10, 2020
Control of articulated snake robot under dynamic active constraints
Ka-Wai Kwok1, Valentina Vitiello, Guang-Zhong Yang
1The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom. k.kwok07@imperial.ac.uk
Medical Image Computing and Computer-Assisted Intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
|October 1, 2010
Summary
This study introduces a snake robot control system for precise surgical movements on deforming tissues. The system ensures accurate visual target tracking and smooth motion, crucial for endoscopic surgery.
Area of Science:
- Robotics
- Surgical Technology
- Control Systems Engineering
Background:
- Flexible, ergonomically enhanced surgical robots are vital for transluminal endoscopic surgery.
- Path-following and dynamic shape conformance are critical requirements for these robots.
- Accurate motion stabilization under dynamic constraints is essential for safe and effective procedures.
Purpose of the Study:
- To address the kinematic control of a snake robot for motion stabilization under dynamic active constraints.
- To enable accurate and steady visual target tracking on deforming tissue.
- To ensure the robot conforms to pre-defined anatomical constraints during surgery.
Main Methods:
- Kinematic control of a snake robot.
- Development of a control mechanism considering system frequency response and input-output delay.
- Integration of visual-motor synchronization for smooth pursuit movements.
- Augmentation of motion tracking with manual control capabilities.
Main Results:
- Demonstrated accurate and steady tracking of visual targets on deforming tissue.
- Showcased the robot's ability to conform to anatomical constraints.
- Highlighted the importance of visual-motor synchronization for smooth pursuit movements, accounting for system delays.
- Validated the practical utility of the proposed control mechanism through user experiments.
Conclusions:
- The proposed kinematic control mechanism is effective for motion stabilization in snake robots for endoscopic surgery.
- Visual-motor synchronization is crucial for achieving accurate and smooth movements, especially when system delays are present.
- The control strategy enables robots to perform precise tasks on dynamic biological tissues while adhering to anatomical limitations.
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