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Published on: November 14, 2015
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Workspace Boundary Adjustment and Dexterity Analysis for Continuum Manipulators in Teleoperated Surgery
Yongzhuo Gao1, Dexin Cheng1, Shihai Zhao1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.
Summary
This study introduces a novel control strategy to expand the workspace of continuum manipulators for minimally invasive surgery. The method enhances dexterity and stability, improving surgical precision in confined spaces.
Area of Science:
- Robotics
- Surgical Technology
- Control Systems
Background:
- Continuum manipulators offer excellent bending and gentle tissue interaction, making them valuable in medical applications.
- Single-port surgery presents challenges due to narrow, crowded surgical fields that can exceed manipulator workspace limits.
Purpose of the Study:
- To develop a control strategy that enhances the dexterity and spatial reach of continuum manipulators.
- To address the limitations of the non-dexterous workspace in single-port surgical environments.
Main Methods:
- Utilized Jacobian-based differential kinematics to compute control solutions.
- Integrated spatial solid angles for intuitive analysis of manipulator dexterity.
- Developed a strategy to balance dexterity with spatial workspace limitations.
Main Results:
- Demonstrated effective expansion of the manipulator's reachable workspace.
- Showcased enhanced fault tolerance in spatial matching tasks.
- Validated the proposed method's ability to improve workspace boundaries.
Conclusions:
- The system achieved high trajectory-tracking consistency and orientation continuity.
- Improved accuracy and stability in teleoperation within the non-dexterous workspace.
- The control strategy effectively enhances continuum manipulator performance in constrained surgical settings.
