Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization

Effective teleoperation of the small-scale and highly-integrated robots for single-port surgery (SPS) imposes unique control and human-robot interaction challenges. Traditional isometric teleoperation schemes mainly focus on end-to-end trajectory mapping, which is problematic when applied to SPS robotic control, especially for dual-arm coordinated operation. Inspired by the human arm configuration in boxing maneuvers, an optimized anthropomorphic coordinated control strategy based on a dual-step optimization approach is proposed. Theoretical derivation and solvability of the problem are addressed, and the effectiveness of the method is further demonstrated in detailed simulation and in-vitro experiments. The proposed control strategy has been shown to perform dexterous SPS bimanual manipulation more effectively, involving less instrument-interference and is free from singularities, thereby improving the safety and efficiency of SPS operations.