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Published on: August 8, 2011
An Adaptive Shared Control Frame and Feedback Rendering in Interactive Robot-Assisted Surgical Manipulation
Hao Ren1, Li Zhichao1, Qingyuan Wu1
1Department of Mechanical Engineering, Tsinghua University, Beijing, China.
Background:
In an unstructured environment where real-time human decision is essential, shared control allows collaboration between humans and robotic systems, combining advantages of both. However, existing control methods are challenged with precision loss, inconsistency and interference from unconscious human inputs.
Methods:
An adaptive anisotropic control frame is presented, enabling interaction both operational and tactical levels. Using predefined trajectory, a dynamic weight function is proposed to allow the human operator to override. Movement along preferred direction is encouraged and compensated, providing accurate real-time tracking performance. Haptic feedback during shared control is evaluated and optimised.
Results:
Experiments validate that the raised method can achieve a tracking precision of under milling payload, with sensible feedback to the operator. The override manipulation can be rapidly made within 0.4 s as the tactical level interaction.
Conclusion:
The proposed approach provides both stability and flexibility in interactive surgical manipulations, maintaining similar precision with autonomous execution.
