Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics

IF 3.4 Q2 ENGINEERING, BIOMEDICAL

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-25 DOI:10.1109/TMRB.2024.3506163

Carlo Tiseo;Quentin Rouxel;Martin Asenov;Keyhan Kouhkiloui Babarahmati;Subramanian Ramamoorthy;Zhibin Li;Michael Mistry

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Abstract

Medical robotics can help improve the reach of healthcare services. A challenge for medical robots is their complex physical interaction. This work evaluates a recently introduced control architecture based on Fractal Impedance Control (FIC) in medical applications. The deployed FIC architecture is robust to delay between the master and the replica robots and can switch online between an admittance and impedance behavior. Our experiments analyze three scenarios: teleoperated surgery, rehabilitation, and remote ultrasound scan. The experiments did not require any adjustment of the robot tuning, which is essential in medical applications where the operators do not have an engineering background. Our results show that it is possible to teleoperate the robot to perform remote occupational therapy, operate a scalpel, and use an ultrasound scan. However, our experiments also highlighted the need for a better robot embodiment to control the system precisely in 3D dynamic tasks.

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实现医疗机器人在不确定条件下的灵巧双向互动

医疗机器人技术有助于提高医疗服务的覆盖范围。医疗机器人面临的一个挑战是复杂的物理交互。这项工作评估了最近在医疗应用中推出的基于分形阻抗控制（FIC）的控制架构。部署的 FIC 架构对主机器人和复制机器人之间的延迟具有鲁棒性，并能在导纳和阻抗行为之间进行在线切换。我们的实验分析了三种情况：远程手术、康复和远程超声波扫描。实验不需要对机器人进行任何调整，而这在操作员不具备工程背景的医疗应用中是至关重要的。实验结果表明，远程操作机器人进行远程职业治疗、操作手术刀和使用超声波扫描是可行的。不过，我们的实验也凸显出需要更好的机器人体现，以便在三维动态任务中精确控制系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE transactions on medical robotics and bionics

CiteScore

6.80

自引率

0.00%

发文量