Proceedings on Automation in Medical Engineering
Vol. 1 No. 1 (2020): Proc AUTOMED

Modelling and control, ID 002

An intuitive interface for null space visualization and control of redundant surgical robots

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Murali Karnam (BIROMED-Lab, Department of Biomedical Engineering, University of Basel), Riccardo Parini (BIROMED-Lab, Department of Biomedical Engineering, University of Basel), Manuela Eugster (BIROMED-Lab, Department of Biomedical Engineering, University of Basel), Philippe Cattin (CIAN, Department of Biomedical Engineering, University of Basel), Georg Rauter (BIROMED-Lab, Department of Biomedical Engineering, University of Basel), Nicolas Gerig (BIROMED-Lab, Department of Biomedical Engineering, University of Basel)

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Abstract

Surgery robots used to position instruments maybe redundant and therefore have null space movements which allows changing the robot’s shape without changing the desired end-effector pose. However, null space movements are often not intuitive and challenging to predict for human operators. We propose a simple interface to visualize possible null space based on a user input using force/torque sensor. The interface was implemented and tested successfully for a 7-degrees-of-freedom KUKA LBR iiwa robot. This interface was designed for any medical personnel to preview possible robot’s shapes and select a favorable one while the main surgeon independently teleoperates the end-effector pose.


 

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