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Related Experiment Video

Updated: Jul 31, 2025

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery

Published on: August 12, 2021

Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion.

Carlos Fontúrbel¹, Ana Cisnal¹, Juan Carlos Fraile-Marinero¹

¹Escuela de Ingenierías Industriales, Medical Robotics Group, Instituto de las Tecnologías Avanzadas de la Producción (ITAP), Universidad de Valladolid, Valladolid, Spain.

Frontiers in Robotics and AI

|May 4, 2023

Summary

This summary is machine-generated.

This study introduces a new force-based control strategy for robotic laparoscopic surgery, minimizing contact forces and improving safety in collaborative environments by adapting to patient and instrument movement.

Keywords:

admittance control collaborative robotics force control laparoscopy robotic surgery

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Published on: August 12, 2021

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Published on: January 6, 2023

Area of Science:

Robotics
Surgical Technology
Control Systems

Background:

Laparoscopic surgery robots commonly use fixed Remote Center of Motion (RCM) control, assuming immobile abdominal walls.
This assumption is flawed, particularly in collaborative surgical settings, posing risks.

Purpose of the Study:

To present a novel force-based control strategy for robotic camera-holder systems in laparoscopic surgery.
To re-conceptualize conventional surgical robotic mobility control using a pivoting motion.

Main Methods:

Directly controlling the Tool Center Point (TCP) position and orientation without incision constraints.
Employing pivoting motions to minimize contact forces between the laparoscope and abdominal walls.
Relating measured force and angular velocity for trocar reallocation based on natural accommodation.

Main Results:

Effectively minimized a 9 N external force to ±0.2 N within 0.7 seconds, and reduced it to 2 N in 0.3 seconds.
Demonstrated successful tracking of a region of interest by dynamically constraining camera orientation.
Validated safety and effectiveness through experimental evaluation.

Conclusions:

The force-based strategy minimizes risks from sudden forces and maintains a stable field of view during surgical environment movements.
Applicable to robots with or without mechanical RCMs, enhancing safety in collaborative laparoscopic surgery.