A novel optimal coordinated control strategy for the updated robot system for single port surgery

Area of Science:

• Robotics
• Surgical Technology
• Control Systems

Background:

• Single port surgery (SPS) robotic systems are increasingly researched globally.
• Existing SPS robot systems face challenges with inefficient hardware and difficulties in safe, efficient teleoperation.

Purpose of the Study:

• To develop an improved robotic system for single port surgery (SPS).
• To enhance the safety, dexterity, and efficiency of teleoperation in SPS.

Main Methods:

• A robot arm was integrated as a novel positioning platform with active motion control for remote center motion.
• A new kinematics-based mapping strategy and an optimal coordinated control strategy were developed, referencing human arm configurations.
• Hardware components, control architecture, and the control system were updated.

Main Results:

• The robotic system's hardware and control architecture were significantly updated.
• A novel optimal coordinated control strategy was proposed and validated.
• The mapping strategy demonstrated effective following and representation for slave manipulator arms.

Conclusions:

• The enhanced robot system offers improved dexterity, intelligence, convenience, and safety for surgical positioning and adjustment.
• The novel control strategy facilitates higher maneuverability, reduced self-interference, and singularity-free teleoperation.