By Topic

A constrained optimization approach to virtual fixtures for multi-handed tasks

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)

In this work, we have extended the concept of constrained motion control of robots to surgical tasks that require multiple robots. We present virtual fixtures to guide the motion of multiple robots such that spatial and temporal relationship is maintained between them. At the same time, our algorithm keeps the surgeon in the control loop. Moreover, we show that these virtual fixtures allow bimanual tasks to be completed using input for a single robot. That is, the user requires only one hand to cooperatively control multiple robots. This reduces the cognitive load on the surgeon and makes multiple-robot setup for surgery more relevant. We demonstrate this architecture by using an example of manipulating a surgical knot to position it at a target point. Significant improvement is observed in the accuracy when bimanual virtual fixture assistance is provided. Moreover, the accuracy when using a single input from user is similar to the accuracy obtained from bimanual assistance.

Published in:

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Date of Conference:

19-23 May 2008