Development and implementation of a singularity management strategy for a cooperative redundant robotic system destined to assistance during surgical interventions

作者：Landeira Freire Martin A; Sanchez Emilio; Tejada Sonia; Diez Ricardo

来源：RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 2015, 12(1): 80-91.

DOI：10.1016/j.riai.2014.05.007

• Singularities
• Inverse kinematics problem
• Redundant manipulator
• Co-operative control
• Biomedical system

In this research work, a new prototype of collaborative robot-assisted surgical platform for transpedicular fixation surgeries is presented. The usage of assistive robotic systems during conventional surgical procedures improves surgical outcomes, as they ensure high levels of precision and safety. Hence, robustness and dexterity of the mechatronic devices must be guaranteed, even in the neighborhood of unstable configurations during their performance. Bearing this in mind, a singularity management strategy has been implemented in the robotic platform, based on the Damped Least Squares method using an adaptive damping factor together with a methodology for optimization of joint redundancy of the platform manipulator, Mitsubishi PA10-7C.

• 出版日期2015-3