Telemanipulator Control with Varying Camera Position

Abstract:

Technical University of Lodz in cooperation with the Foundation for Cardiac Surgery Development conducts research on the design and control method of Polish Robin Heart cardiosurgical robots family. One of the major problems in telemanipulation is intuitiveness of control. One of the methods to ensure it is using systems that duplicate master displacement to manipulator displacement. The selection of the proper method when it is not possible to predict what will be the position of the camera observing the work area in relation to the position of the manipulator arm is especially important. Transformations between different coordinate systems must be taken into consideration. Four methods of position copying system implementation tested on RobIn Heart cardiosurgical telemanipulator will be presented in this article. Detailed algorithms will be described and the results of tests determining the duration of certain tasks will be presented.

References

[1] Hagn, U., et al. . DLR MiroSurge – towards versatility in surgical robotics. Wrzesień, 24-26, 2008, pp.143-146.

[2] Z. Nawrat; L. Podsędkowski; K. Mianowski; P. Kostka; P. Wróblewski; Z. Małota : Robin Heart 2003- Present state of polish telemanipulator project dedicated for cardiac surgery. The International Journal of Artificial Organs. Vol 26/no. 12, 2003/pp.1115-1119.

DOI: 10.1177/039139880302601209

[3] Z. Nawrat; P. Kostka; L. Podsędkowski; W. Dybka; A. Kandora: Telemanipulator toru endowizyjnego Robin Hart Vision,. Warszawa. PAR –Pomiary Automatyka Robotyka. Miesięcznik Naukowo-Techniczny. 2/2007 str. 1-9.

[4] L. Podsędkowski, P. Żak Tests on Cardiosurgical Robot RobIn Heart 3, Lecture Notes in Control and Information Sciences, Springer Verlag, Volume 396/(2009).

DOI: 10.1007/978-1-84882-985-5_40

[5] Z. Nawrat; P. Kostka; W. Dybka; K. Rohr; L. Podsędkowski; J. Śliwka; R. Cichoń; M. Zembala; G. Religa. The Robin Heart surgical robot system in vivo experiments- report, The International Journal of Artificial Organs / Vol. 32 / no. 7, (2009).

[6] Podsędkowski L. Forward And Inverse Kinematics of the Cardio-Surgical Robot With Non-Coincident Axis of the Wrist, SIROCCO 2003, str 525-530.

DOI: 10.1016/s1474-6670(17)33433-x

[7] Peer, A. Stanczyk, B. ; Buss, M. Haptic telemanipulation with dissimilar kinematics. Intelligent Robots and Systems, 2005. Pp. 3493 - 3498.

DOI: 10.1109/iros.2005.1545349

[8] Spong. M.W. Vidyasagar M. Robot Dynamics and Control. J.W. &S. I (1989).