User-specified inverse kinematics taught in virtual reality reduce time and effort to hand-guide redundant surgical robots.

ABSTRACT: Medical robots should not collide with close by obstacles during medical procedures, such as lamps, screens, or medical personnel. Redundant robots have more degrees of freedom than needed for moving endoscopic tools during surgery and can be reshaped to avoid obstacles by moving purely in the space of these additional degrees of freedom (null space). Although state-of-the-art robots allow surgeons to hand-guide endoscopic tools, reshaping the robot in null space is not intuitive for surgeons. Here we propose a learned task space control that allows surgeons to intuitively teach preferred robot configurations (shapes) that avoid obstacles using a VR-based planner in simulation. Later during surgery, surgeons control both the endoscopic tool and robot configuration (shape) with one hand. In

SUBMITTER: Karnam M 

PROVIDER: S-EPMC11825656 | biostudies-literature | 2025 Feb

REPOSITORIES: biostudies-literature