Integrated planning and control of robotic surgical instruments for task autonomy

IF 7.5 1区 计算机科学 Q1 ROBOTICS International Journal of Robotics Research Pub Date : 2023-05-13 DOI:10.1177/02783649231179753
Fangxun Zhong, Yun-hui Liu
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Abstract

Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic manipulation safety across different tasks. We present an integrated planning and control framework for 6-DoF robotic instruments for pipeline automation of surgical tasks. We leverage the geometry of a robotic instrument and propose the nodal state space to represent the robot state in SE(3) space. Each elementary robot motion could be encoded by regulation of the state parameters via a dynamical system. This theoretically ensures that every in-process trajectory is globally feasible and stably reached to an admissible target, and the controller is of closed-form without computing 6-DoF inverse kinematics. Then, to plan the motion steps reliably, we propose an interactive (instant) goal state of the robot that transforms manipulation planning through desired path constraints into a goal-varying manipulation (GVM) problem. We detail how GVM could adaptively and smoothly plan the procedure (could proceed or rewind the process as needed) based on on-the-fly situations under dynamic or disturbed environment. Finally, we extend the above policy to characterize complete pipelines of various surgical tasks. Simulations show that our framework could smoothly solve twisted maneuvers while avoiding collisions. Physical experiments using the da Vinci Research Kit validates the capability of automating individual tasks including tissue debridement, dissection, and wound suturing. The results confirm good task-level consistency and reliability compared to state-of-the-art automation algorithms.
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机器人手术器械任务自主性的综合规划与控制
对于外科手术等由机器人完成的复杂任务来说,灵活的操作是必不可少的。先前对手术自主性的探索仅限于完成单一任务的可行性研究,而没有系统地解决跨不同任务的通用操作安全性问题。我们提出了一个集成的规划和控制框架的六自由度机器人仪器的管道自动化手术任务。我们利用机器人仪器的几何结构,提出节点状态空间来表示SE(3)空间中的机器人状态。机器人的每个基本运动都可以通过动力系统对状态参数的调节来编码。这在理论上保证了进程中的每条轨迹都是全局可行的,并且稳定地到达一个允许的目标,并且控制器是封闭形式的,不需要计算六自由度逆运动学。然后,为了可靠地规划运动步骤,我们提出了机器人的交互式(即时)目标状态,将通过期望路径约束的操作规划转换为目标变化操作(GVM)问题。我们详细介绍了GVM如何在动态或受干扰的环境下根据动态情况自适应地顺利地计划过程(可以根据需要继续或倒回过程)。最后,我们将上述策略扩展到描述各种手术任务的完整管道。仿真结果表明,该框架可以在避免碰撞的同时平稳地解决扭曲机动问题。使用达芬奇研究套件进行的物理实验验证了自动完成组织清创、解剖和伤口缝合等单个任务的能力。与最先进的自动化算法相比,结果证实了良好的任务级一致性和可靠性。
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来源期刊
International Journal of Robotics Research
International Journal of Robotics Research 工程技术-机器人学
CiteScore
22.20
自引率
0.00%
发文量
34
审稿时长
6-12 weeks
期刊介绍: The International Journal of Robotics Research (IJRR) has been a leading peer-reviewed publication in the field for over two decades. It holds the distinction of being the first scholarly journal dedicated to robotics research. IJRR presents cutting-edge and thought-provoking original research papers, articles, and reviews that delve into groundbreaking trends, technical advancements, and theoretical developments in robotics. Renowned scholars and practitioners contribute to its content, offering their expertise and insights. This journal covers a wide range of topics, going beyond narrow technical advancements to encompass various aspects of robotics. The primary aim of IJRR is to publish work that has lasting value for the scientific and technological advancement of the field. Only original, robust, and practical research that can serve as a foundation for further progress is considered for publication. The focus is on producing content that will remain valuable and relevant over time. In summary, IJRR stands as a prestigious publication that drives innovation and knowledge in robotics research.
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