Abstract
During a minimally-invasive surgical intervention,
robot-assisted surgery may prove to offer a greater range
of motion of surgical instruments and improved ergonomics
for the surgeon, when compared to manual actuation
techniques. Previously, we have developed the Advanced
Robotics for Magnetic Manipulation (ARMM) system, which
consists of two 6-degrees-of-freedom (DOF) surgical robots.
Furthermore, we described the tracking, dynamics, and
motions of these robots, indicating an overall 3D tracking
accuracy of 2.4±0.4 mm and a mean joint velocity error of
1.23 rad/s. In this work, we aim to demonstrate fully
autonomous control of these robots in a clinically-relevant
environment.
robot-assisted surgery may prove to offer a greater range
of motion of surgical instruments and improved ergonomics
for the surgeon, when compared to manual actuation
techniques. Previously, we have developed the Advanced
Robotics for Magnetic Manipulation (ARMM) system, which
consists of two 6-degrees-of-freedom (DOF) surgical robots.
Furthermore, we described the tracking, dynamics, and
motions of these robots, indicating an overall 3D tracking
accuracy of 2.4±0.4 mm and a mean joint velocity error of
1.23 rad/s. In this work, we aim to demonstrate fully
autonomous control of these robots in a clinically-relevant
environment.
| Original language | English |
|---|---|
| Pages | 3360 |
| Number of pages | 1 |
| Publication status | Published - 1 Nov 2019 |
| Event | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China Duration: 4 Nov 2019 → 8 Nov 2019 https://www.iros2019.org/ |
Conference
| Conference | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Abbreviated title | IROS 2019 |
| Country/Territory | China |
| City | Macau |
| Period | 4/11/19 → 8/11/19 |
| Internet address |
Keywords
- Medical Robots and Systems
- Multi-Robot Systems
- Path Planning for Multiple Mobile Robots or Agents