Development and Experimental Evaluation of Concurrent Control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment

被引：1

作者：

Wilkening, Paul ^{[1
]}

Alambeigi, Farshid ^{[2
]}

Murphy, Ryan J. ^{[3
]}

Taylor, Russell H. ^{[1
]}

Armand, Mehran ^{[2
,3
]}

机构：

[1] Johns Hopkins Univ, Dept Comp Sci, Baltimore, MD 21218 USA

[2] Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA

[3] Johns Hopkins Univ, Appl Phys Lab, Dept Res & Exploratory Dev, Johns Hopkins Rd, Laurel, MD 20723 USA

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2017年 / 2卷 / 03期

关键词：

Dexterous manipulation; medical robots and systems; optimization and optimal control; SURGERY; DESIGN;

D O I：

10.1109/LRA.2017.2678543

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This letter presents the development and evaluation of concurrent control of a robotic system for less-invasive treatment of osteolytic lesions behind an acetabular implant. This system implements safety constraints including a remote center of motion, virtual walls, and joint limits while operating through the screw holes of the acetabular implant. The formulated linear constrained optimization problem ensures these constraints are satisfied while maintaining precise control of the tip of a Continuum Dexterous Manipulator attached to a positioning robot. Experiments evaluated the performance of the tip control method within an acetabular cup. The controller reliably reached a series of goal points with a mean error of 0.42 mm and a worst-case error of straying 1.0 mm from our path.

引用

页码：1625 / 1631

页数：7