The paper describes a motion planning and control software architecture developed for the automation of a surgical robot. The considered surgical robot is a dual-arm prototype developed with a redundant and modular mechanical structure, designed to be reconfigured for different surgical tasks, and with a hybrid parallel/serial kinematics. The motion planning solution proposed in the paper includes both an online collision-free path planner, based on the RRT-Connect algorithm, and a generator of predefined motion primitives. This solution allows the multi-arm robot to autonomously execute the complex motion patterns required for a suturing task. Since such motion patterns are specified in the Cartesian space, an efficient and univocal solution of the inverse kinematics of the robot, which is a challenging problem due to its hybrid structure, is another crucial issue addressed in the paper.

Motion planning for a multi-arm surgical robot using both sampling-based algorithms and motion primitives

PREDA, Nicola;BONFE', Marcello
2015

Abstract

The paper describes a motion planning and control software architecture developed for the automation of a surgical robot. The considered surgical robot is a dual-arm prototype developed with a redundant and modular mechanical structure, designed to be reconfigured for different surgical tasks, and with a hybrid parallel/serial kinematics. The motion planning solution proposed in the paper includes both an online collision-free path planner, based on the RRT-Connect algorithm, and a generator of predefined motion primitives. This solution allows the multi-arm robot to autonomously execute the complex motion patterns required for a suturing task. Since such motion patterns are specified in the Cartesian space, an efficient and univocal solution of the inverse kinematics of the robot, which is a challenging problem due to its hybrid structure, is another crucial issue addressed in the paper.
2015
9781479999941
9781479999941
Kinematics; Manipulators; Medical robotics; Planning; Robot kinematics; Yarn; Control and Systems Engineering; Software; 1707; Computer Science Applications1707 Computer Vision and Pattern Recognition
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in SFERA sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/2348344
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 15
  • ???jsp.display-item.citation.isi??? 11
social impact