Motion planning for a multi-arm surgical robot using both sampling-based algorithms and motion primitives

The paper describes a motion planning and control software architecture developed for the automation of a surgical robot. The considered surgical robot is a dual-arm prototype developed with a redundant and modular mechanical structure, designed to be reconfigured for different surgical tasks, and w...

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Bibliographic Details
Published in:2015 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 1422 - 1427
Main Authors: Preda, Nicola, Manurung, Auralius, Lambercy, Olivier, Gassert, Roger, Bonfe, Marcello
Format: Conference Proceeding
Language:English
Published: IEEE 01.09.2015
Subjects:
Kinematics
Manipulators
Medical robotics
Planning
Robot kinematics
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Summary:The paper describes a motion planning and control software architecture developed for the automation of a surgical robot. The considered surgical robot is a dual-arm prototype developed with a redundant and modular mechanical structure, designed to be reconfigured for different surgical tasks, and with a hybrid parallel/serial kinematics. The motion planning solution proposed in the paper includes both an online collision-free path planner, based on the RRT-Connect algorithm, and a generator of predefined motion primitives. This solution allows the multi-arm robot to autonomously execute the complex motion patterns required for a suturing task. Since such motion patterns are specified in the Cartesian space, an efficient and univocal solution of the inverse kinematics of the robot, which is a challenging problem due to its hybrid structure, is another crucial issue addressed in the paper.
DOI:10.1109/IROS.2015.7353554