Tiseo, C;
Rouxel, Q;
Asenov, M;
Babarahmati, KK;
Ramamoorthy, S;
Li, Z;
Mistry, M;
(2024)
Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics.
IEEE Transactions on Medical Robotics and Bionics
10.1109/TMRB.2024.3506163.
(In press).
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Abstract
Medical robotics can help improve the reach of healthcare services. A challenge for medical robots is their complex physical interaction. This work evaluates a recently introduced control architecture based on Fractal Impedance Control (FIC) in medical applications. The deployed FIC architecture is robust to delay between the master and the replica robots and can switch online between an admittance and impedance behaviour. Our experiments analyse three scenarios: teleoperated surgery, rehabilitation, and remote ultrasound scan. The experiments did not require any adjustment of the robot tuning, which is essential in medical applications where the operators do not have an engineering background. Our results show that it is possible to teleoperate the robot to perform remote occupational therapy, operate a scalpel, and use an ultrasound scan. However, our experiments also highlighted the need for a better robot embodiment to control the system precisely in 3D dynamic tasks.
| Type: | Article |
|---|---|
| Title: | Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/TMRB.2024.3506163 |
| Publisher version: | https://doi.org/10.1109/tmrb.2024.3506163 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For the purpose of open access, the author has applied a Creative Commons Attribution (CC BY) license to any Author Accepted Manuscript version arising |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10202852 |
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