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• W3157519844 abstract "In Robotic-Assisted Minimally Invasive Surgery a long and thin instrument attached to the robotic arm enters the human body through a tiny incision. To ensure that no injury occurs when the surgeon is manipulating the instrument, the incision point must be a remote center of motion (RCM) for the instrument. For this purpose, a novel target admittance model is designed in the joint space for hands-on procedures that can be applied in all commercially available general-purpose manipulators with six or more degrees of freedom. It is proved that the joint reference trajectories generated by the proposed target admittance model under the exertion of a human force are stable and satisfy the RCM constraint. The measurements of the human force and the robot's forward kinematic model are only required. Its use spans all hands-on surgical procedures. The proposed model can be easily extended to achieve additional objectives. Simulation results validate the theoretical findings and experimental results utilizing a KUKA LWR4+ demonstrate that trocar displacements are less than 1mm." @default.
• W3157519844 created "2021-05-10" @default.
• W3157519844 creator A5006328420 @default.
• W3157519844 creator A5079421769 @default.
• W3157519844 date "2021-05-01" @default.
• W3157519844 modified "2023-09-26" @default.
• W3157519844 title "A Controller to Impose a RCM for Hands-on Robotic-Assisted Minimally Invasive Surgery" @default.
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• W3157519844 doi "https://doi.org/10.1109/tmrb.2021.3077319" @default.
• W3157519844 hasPublicationYear "2021" @default.
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