Event-based adaptive control of 7-dof serial robot for teleoperated mis

摘要

Teleoperated Minimally Invasive Surgery (MIS) can be accomplished with hands-on and teleoperation, where hands-on is required for surgical robot arm docking and instrument insertion, and teleoperation is mandatory for teleoperated surgical operation.Instead of complex instrument operation procedures, we propose a novel continuous adaptive control method to simply the whole workflow for teleoperated MIS.Operation safety and flexibility is validated in a lab setup MIS environment by using the KUKA LWR4+ slave robot and Sigma7 master device.The results show the transition between two modes is smooth and stable.