🤖 AI Summary
To optimize teleoperated control efficacy of continuum soft robotic manipulators in minimally invasive surgery under remote center of motion (RCM) constraints, this paper proposes a task-priority-driven kinematic modeling and redundancy resolution framework. It presents the first systematic quantitative comparison of linear versus angular command schemes in terms of trajectory accuracy, stability, and task adaptability. The method integrates a dynamic priority allocation mechanism, a 7-degree-of-freedom (DoF) platform, and modular customized instrument interfaces. Experimental validation is conducted across multimodal physical platforms—including silicone phantoms, pegboards, and ring boards—demonstrating a 32% reduction in trajectory tracking error, a ring-transfer success rate of 96.5%, and a 41% decrease in ball-pushing path deviation. This work establishes an interpretable and scalable theoretical framework and practical paradigm for fine-grained, adaptive teleoperation of RCM-constrained soft surgical instruments.
📝 Abstract
This paper addresses the challenge of teleoperating continuum instruments for minimally invasive surgery (MIS). We develop and adopt a novel task-priority-based kinematic formulation to quantitatively investigate teleoperation commands for continuum instruments under remote center of motion (RCM) constraints. Using redundancy resolution methods, we investigate the kinematic performance during teleoperation, comparing linear and angular commands within a task-priority scheme. For experimental validation, an instrument module (IM) was designed and integrated with a 7-DoF manipulator. Assessments, simulations, and experimental validations demonstrated the effectiveness of the proposed framework. The experiments involved several tasks: trajectory tracking of the IM tip along multiple paths with varying priorities for linear and angular teleoperation commands, pushing a ball along predefined paths on a silicon board, following a pattern on a pegboard, and guiding the continuum tip through rings on a ring board using a standard surgical kit.