iros 2013 - force-position control for a miniature camera robotic system for single-site surgery
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Irene Rivas Blanco
E. Bauzano ,M. Cuevas-Rodriguez, P. Del Saz-Orozco, V.F. Muñoz
Department of System Engineering and Automation
University of Málaga (Spain)
FORCE-POSITION CONTROL FOR A
MINIATURE CAMERA ROBOTIC SYSTEM FOR
SINGLE-SITE SURGERY
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I. INTRODUCTION
II. CAMERA ROBOTIC SYSTEM
III. FORCE-POSITION CONTROL
IV. EXPERIMENTS
V. CONCLUSIONS & FUTURE WORK
INDEX
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I. INTRODUCTION
• Single-site surgery
Loss of triangulation between camera and
instruments
Limitation of the range of motion of instruments outside the abdomen
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I. INTRODUCTION
• Robotic system for Single-Site surgery
Camera robot
Magnetic holder
Robotic arm
Entry port
Abdominal wall
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II. CAMERA ROBOTIC SYSTEM
Wrist attachmentPan
Tilt
-42º 42º
C
B
A
• Wireless Camera Robot
Camera robot
Magnetic holder
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III. FORCE-POSITION CONTROL
Hybrid Force-Position
Control
Torque Compensation
• Hybrid force-position control with torque compensation
ROBOT ENVIRONMENT
‐ Hybrid force-position control tracks position reference along thetangent directions of the surface while exerting a force along thenormal direction.
‐ Torque compensation mantains the robot orientationperpendicular to the surface at the contact point
Position
Orientation
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III. FORCE-POSITION CONTROL
+
+
PN
F
DΔF Force
controller
P
ENVIRONMENT
Position
controller
PT-
+
TA
SK
PL
AN
NE
R
Pr
Fr
I-D
+
-
PROBOT
• Hybrid force-position control
‐ Position control law: PI controller
‐ Force control law: elastic interaction model between the robot and the contact surface of stiffness matrix Kx
ΔF = Kx ΔPN
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III. FORCE-POSITION CONTROL
• Torque compensation
‐ Rotation by an angle α in theopposite direction of the torque vector
‐ Quaternion-based orientationcontroller
F
Torque
compensation
Δτ Orientation
controller
+
-
Rτd
R
ROBOT
τ
ENVIRONMENT
Surfacez
z
F
α
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IV. EXPERIMENTS
• Experiment design
1. Initial stiffness matrix estimation
2. Displacement of the camera robot 10 cm along the y-direction while exerting an 8 N force on the z-direction.
z
y
Barret WAM
Abdomen simulator
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III. EXPERIMENTS
- Recurrent Least Square (RLS) algorithm
• Stiffness matrix estimation
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III. EXPERIMENTS
- Recurrent Least Square (RLS) algorithm
• Stiffness matrix estimation
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III. EXPERIMENTS
• Displacement of the camera robot
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III. EXPERIMENTS
• Experimental results: force
- Maximum error = 160 mN
- Sensor resolution = 50 mN
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III. EXPERIMENTS
• Experimental results: displacement
- Trapezoidal velocity profile
- Maximum error = 4.5 mm
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III. EXPERIMENTS
• Experimental results: orientation
- Maximum error = 2.1 grades
- Mean error = 1.3 grades
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III. CONCLUSIONS AND FUTURE WORK
‐ The camera robotic system solves the problem of the loss of triangulation and reduces the number of instruments sharing thesingle port
‐ Hybrid force-position control with torque compensation todisplace the camera robot along the abdominal wall
‐ Online environment stiffness matrix to take into account eachpatient characteristics
‐ Reduce the overall size of the camera robot
‐ Experiments with different contact surfaces
• Conclusions
• Future Work
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THANK YOU FOR YOUR ATTENTION
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