An Optimal Control Approach with Decoupled Space Constraints for the Magnetic-Assisted Surgical Robot

Tieru Wang, Xiaolei Cao, Xingfang Wang, Shuqi Xue*, Xiao Huang*, Hui Li, Zhihong Jiang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1063-1068
Number of pages6
ISBN (Electronic)9798350385724
DOIs
Publication statusPublished - 2024
Event9th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2024 - Tokyo, Japan
Duration: 8 Jul 202410 Jul 2024

Publication series

NameICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics

Conference

Conference9th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2024
Country/TerritoryJapan
CityTokyo
Period8/07/2410/07/24

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Cite this

Wang, T., Cao, X., Wang, X., Xue, S., Huang, X., Li, H., & Jiang, Z. (2024). An Optimal Control Approach with Decoupled Space Constraints for the Magnetic-Assisted Surgical Robot. In ICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics (pp. 1063-1068). (ICARM 2024 - 2024 9th IEEE International Conference on Advanced Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM62033.2024.10715861