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Cited by 58Soft Robotics and ApplicationsTeleoperation and Haptic SystemsRobotic Mechanisms and Dynamics

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Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery

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Berthet-Rayne, Pierre, Leibrandt, Konrad, Gras, Gauthier, Fraisse, Philippe, Crosnier, Andre, Yang, Guang-Zhong·2018·IEEE Robotics and Automation Letters
DOI 10.1109/lra.2018.2812907
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Abstract

The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6 DOF. This letter introduces a snakelike robot for ear, nose, and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different control methods were investigated. The methods are compared through simulation with a user study. Each participant performed the same task using each of the six different control methods. Based on the metrics selected, the sparse pseudo-L0and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.

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  • A teleoperation frequency of 50Hz is sufficient for non-bilateral teleoperation.

    “A teleoperation frequency of 50Hz is common among other non-bilateral systems [7, 50, 39] and in practice demonstrates sufficient performance.”

    From Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware (2023) · cites this paper as [7]

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Research works printed but not linked: 21

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Metadata

Authors
Berthet-Rayne, P., Leibrandt, K., Gras, G., Fraisse, P., Crosnier, A., & Yang, G.-Z.
Affiliations
  • Imperial College London (GB)
  • Centre National de la Recherche Scientifique (FR)
ORCID
Venue
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published
2018-07
Volume
3
Issue
3
Pages
2501-2508
ISSN
  • 2377-3766 (ISSN-L)
  • 2377-3774
DOI
10.1109/lra.2018.2812907
OpenAlex
W2790766491
Cited by
58
References
0
Citations by year
2026: 1 · 2025: 11 · 2024: 1 · 2023: 8 · 2022: 10 · 2021: 9 · 2020: 9 · 2019: 6 · 2018: 3
FWCI
2.69
Type
journal article
Language
en
Open access
Licence
Locations
  • IEEE Robotics and Automation Letters (publishedVersion)
  • HAL (submittedVersion, other-oa)
  • Spiral (Imperial College London) (submittedVersion)
Funders
Hamlyn Centre for Robotic Surgery
Topics
  • Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
  • Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
  • Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
Keywords
inverse kinematics, redundant manipulators, teleoperation, minimally invasive surgery, ear, nose and throat surgery, user study, real-time control

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