Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance

Andrea Bajo, Ryan Pickens, S. Duke Herrell, Nabil Simaan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Constrained motion control of robotic end-effectors is essential for safe operation in confined spaces such as the urinary bladder. This paper presents the clinical motivation for the development of new control algorithms for robotic-assisted transurethral bladder resection and surveillance using multisegment continuum robots. The anatomy, workspace, and access constraints for this procedure are identified and used as a guideline for the design of the telesurgical system and its control architecture. Constraints are mapped into the configuration space of the robot rather than in task space simplifying the modeling and the enforcement of virtual fixtures. The redundancy resolution is autonomously modified in order to exploit the remaining degrees of freedom using task priority. These methods are validated on a glass model of urinary bladder.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages5837-5842
Number of pages6
DOIs
StatePublished - Nov 14 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

Fingerprint

Motion control
Robotics
Robots
End effectors
Redundancy
Glass

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Bajo, A., Pickens, R., Herrell, S. D., & Simaan, N. (2013). Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 5837-5842). [6631417] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6631417

Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. / Bajo, Andrea; Pickens, Ryan; Herrell, S. Duke; Simaan, Nabil.

2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 5837-5842 6631417 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bajo, A, Pickens, R, Herrell, SD & Simaan, N 2013, Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6631417, Proceedings - IEEE International Conference on Robotics and Automation, pp. 5837-5842, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 5/6/13. https://doi.org/10.1109/ICRA.2013.6631417
Bajo A, Pickens R, Herrell SD, Simaan N. Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 5837-5842. 6631417. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6631417
Bajo, Andrea ; Pickens, Ryan ; Herrell, S. Duke ; Simaan, Nabil. / Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. pp. 5837-5842 (Proceedings - IEEE International Conference on Robotics and Automation).
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