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Collaborative Control for Surgical Robots

Scheikl, Paul Maria; Lanz, David; Mathis-Ullrich, Franziska

Abstract (englisch):
We are designing and evaluating control strategies that enable surgeons to intuitively hand-guide an endoscope attached to a redundant lightweight robot. The strategies focus on safety aspects as well as intuitive and smooth control for moving the endoscope. Two scenarios are addressed. The first being a compliant hand-guidance of the endoscope and the second moving the robot’s elbow on its redundancy circle to move the robot out of the surgeon’s way without changing the view. To prevent collisions with the patient and the environment, the robot needs to move respecting Cartesian constraints.

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Volltext §
DOI: 10.5445/IR/1000097122
Veröffentlicht am 16.09.2019
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Sonstiges
Publikationsmonat/-jahr 05.2019
Sprache Englisch
Identifikator KITopen-ID: 1000097122
Bemerkung zur Veröffentlichung IEEE International Conference on Robotics and Automation - Workshop: Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems (ICRA 2019), Montreal, Kanada, 20 - 24 Mai 2019
Schlagwörter closed-loop control, human robot collaboration, robot-assisted surgery, minimally invasive surgery
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