Needle Driver Control for a Robotic MIS Suturing System
Journal
IFAC-PapersOnLine
Journal Volume
54
Journal Issue
9
Pages
527-532
Date Issued
2021
Author(s)
Abstract
Autonomous robotic suturing has attracted research attention for years. Few results have shown the performance of an integrated robotic arm with a needle driver. This research introduces a coupling mechanism to connect a Da Vinci? large needle driver to a six-axis robotic arm. The motion of the needle driver wrist is treated as two additional motion degrees-of-freedom for the robot to simultaneously maintain the remote center-of-motion (RCM) and the needle path. The experiment employed the augmented state approach for the RCM generation and formulated the desired needle trajectory into the task control framework. This framework enables the implementation of a common robot controller. A trajectory correction procedure is also introduced to correct for the error resulted from the wrong gripper dimensions. With the proposed system, the experimental results on a training phantom show a successful tracking of the predefined suturing path. Copyright ? 2021 The Authors. This is an open access article under the CC BY-NOND license.
Subjects
Autonomous systems
Medical robotics
Mis
Robot control
Degrees of freedom (mechanics)
Robotic arms
Robotics
Autonomous robotics
Autonomous system
Coupling mechanism
Motion generation
Performance
Remote center of motions
Robots control
Six-axis
Needles
Type
conference paper