最適化されたロボットパートナーによる両手遠隔手術の共有制御
Shared Control for Bimanual Telesurgery with Optimized Robotic Partner
術者の負担軽減のため、ロボットパートナーが両手遠隔手術を支援する共有制御を提案し、力センサなしで作業負荷を51%削減した。
著者: Ziwei Wang, Yanpei Huang, Xiaoxiao Cheng, Pakorn Uttayopas, Etienne Burdet
分類: cs.RO
原文アブストラクト
Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to facilitate intuitive bimanual telesurgery, aiming at reducing the surgeon workload and enhancing surgeon-assisted capability. An interval type-2 polynomial fuzzy-model-based learning algorithm is employed to extract expert domain knowledge from surgeons and reflect environmental interaction information. Based on this, a bimanual shared control is developed to interact with the other robot teleoperated by the surgeon, understanding their control and providing assistance. As prior information of the environment model is not required, it reduces reliance on force sensors in control design. Experimental results on the DaVinci Surgical System show that the RP could assist peg-transfer tasks and reduce the surgeon's workload by 51\% in force-sensor-free scenarios.
