Improved Human-Robot Collaborative Control of Redundant Robot for Teleoperated MIS

An improved human-robot collaborative control scheme is proposed for a teleoperated Minimally Invasive Surgery (MIS) scenario, based on a hierarchical operational space for- mulation of a 7 DoF redundant robot. The redundancy of the manipulator is exploited to guarantee a remote center of motion (RCM) constraint and to provide a flexible workspace for the medical staff to assist physicians, supports patients, etc. Based on the implemented hierarchical control framework, an RCM constraint and a safety enhanced constraint are applied to the null-space motion to achieve the teleoperated minimally invasive surgical tasks with human-robot interaction. Due to the physical interactions, issues with safety and accuracy of the surgical task execution may arise. The control framework integrates adaptive compensators to guarantee the accuracy of the surgical tasks and to maintain the RCM constraint in a decoupled way with uncertain physical interactions. The performance of the proposed algorithm is verified with virtual surgical tasks in a patient phantom. Compared with the methods proposed in the literatures, it can be concluded that both the accuracy of the end- effector and the RCM constraint are improved. The compliant null-space motion is also constrained in a safe area, and the interaction force on the abdominal wall is converged into a smaller area.

Teleoperated