Two-Layer-Based Multiarms Bilateral Teleoperation Architecture

In this article, we propose a novel bilateral teleoperation architecture for a multiarms system based on the two-layer approach. Exploiting the concept of shared energy tank, a passivity layer guarantees the passivity of the overall architecture with respect to destabilizing factors such as time del...

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Veröffentlicht in:IEEE transactions on control systems technology Jg. 31; H. 3; S. 1266 - 1279
Hauptverfasser: Minelli, Marco, Piccinelli, Nicola, Falezza, Fabio, Ferraguti, Federica, Muradore, Riccardo, Secchi, Cristian
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.05.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Communication channels
Control architectures and programming
Delays
Dynamics
Endoscopes
Energy consumption
Force
Impedance
medical robots and systems
Robots
surgical robotics: laparoscopy
Symmetric matrices
Task analysis
telerobotics and teleoperation
ISSN:1063-6536, 1558-0865
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Zusammenfassung:In this article, we propose a novel bilateral teleoperation architecture for a multiarms system based on the two-layer approach. Exploiting the concept of shared energy tank, a passivity layer guarantees the passivity of the overall architecture with respect to destabilizing factors such as time delays in the communication channel. The desired behavior can then be freely designed in the transparency layer. The formulation of the energy tank is first revised, allowing a more efficient use of energy, and then extended, allowing explicitly the use of both admittance and impedance causality robots. A novel framework capable of combining the use of teleoperated and autonomous robots is proposed. The architecture has been tested and validated on a multiarms system in a realistic surgical scenario with the da Vinci research kit (dVRK) and an autonomous arm holding the endoscope.
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ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2022.3225732