TY - GEN
T1 - An Optimal Control Approach with Decoupled Space Constraints for the Magnetic-Assisted Surgical Robot
AU - Wang, Tieru
AU - Cao, Xiaolei
AU - Wang, Xingfang
AU - Xue, Shuqi
AU - Huang, Xiao
AU - Li, Hui
AU - Jiang, Zhihong
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Magnetic-assisted surgical robots represent an innovative direction within the field of medical robotics, due to their significant potential in addressing the instrument interference challenge during the single-port laparoscopic surgery. This paper proposes an optimal control approach for controlling the magnetic-assisted surgical manipulator translating and rotating in the single-dimensional space to execute specific surgical procedure. Firstly, we delineate the manipulator tasks and describe how to utilize a medical foot pedal to control it. Secondly, we model the tasks as an optimization problem, taking manipulator kinematics, task constraints, and safety requirements into consideration. Thirdly, in order to map foot pedal control commands to end-effector movements and achieve precise motion control in single-dimensional space, we propose Decoupled Space Constraints (DSCs) and use the Differential Dynamic Programming (DDP) to solve the optimization problem. Finally, simulation experiments are conducted on a 7-DOF manipulator and the result shows that our approach effectively improves trajectory planning accuracy in single-dimensional space and demonstrates reliable performance in addressing multiple constraints for the magnetic-assisted surgical robot.
AB - Magnetic-assisted surgical robots represent an innovative direction within the field of medical robotics, due to their significant potential in addressing the instrument interference challenge during the single-port laparoscopic surgery. This paper proposes an optimal control approach for controlling the magnetic-assisted surgical manipulator translating and rotating in the single-dimensional space to execute specific surgical procedure. Firstly, we delineate the manipulator tasks and describe how to utilize a medical foot pedal to control it. Secondly, we model the tasks as an optimization problem, taking manipulator kinematics, task constraints, and safety requirements into consideration. Thirdly, in order to map foot pedal control commands to end-effector movements and achieve precise motion control in single-dimensional space, we propose Decoupled Space Constraints (DSCs) and use the Differential Dynamic Programming (DDP) to solve the optimization problem. Finally, simulation experiments are conducted on a 7-DOF manipulator and the result shows that our approach effectively improves trajectory planning accuracy in single-dimensional space and demonstrates reliable performance in addressing multiple constraints for the magnetic-assisted surgical robot.
UR - http://www.scopus.com/inward/record.url?scp=85208054463&partnerID=8YFLogxK
U2 - 10.1109/ICARM62033.2024.10715861
DO - 10.1109/ICARM62033.2024.10715861
M3 - Conference contribution
AN - SCOPUS:85208054463
T3 - ICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics
SP - 1063
EP - 1068
BT - ICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2024
Y2 - 8 July 2024 through 10 July 2024
ER -