Control Strategy for Direct Teaching of Non-Mechanical Remote Center Motion of Surgical Assistant Robot with Force/Torque Sensor

This paper presents a control strategy that secures both precision and manipulation sensitivity of remote center motion with direct teaching for surgical assistant robot. Remote is an essential function conventional laparoscopic surgery, the most intuitive way surgeon manipulates robot through teaching. The must maintain position insertion port in three-dimensional space during four-degree-of-freedom motions such as pan, tilt, spin, forward/backward. In addition, should move smoothly when controlling it hands surgery. this study, six-degree-of-freedom collaborative performs cone-shaped trajectory pan tilt end-effector keeping center. Instead bulky mechanically constrained mechanism, used to mimic wrist movement scrub nurse. A force/torque sensor attached between estimates surgeon’s intention. based on applied guarantee precise maintenance performance. generation algorithm designed generate by utilizing value. parameters are optimized so can be operated uniform all directions. torque required analyzed experiments.