@inproceedings{376356aef02748e1b7a01147bb2eb744,
title = "Overview of selected teleoperation positioning systems for controlling a robot arm operating in Remote Centre of Motion (RCM) mode",
abstract = "This paper describes partial results of ongoing research at the Department of Automatic Control and Robotics Faculty of Electrical Engineering, Bialystok University of Technology, Poland, in the field of application of industrial robots for the improvement of robotic surgical procedures by the doctors, analogous to procedures performed on expensive surgical systems class of the Da Vinci system from the Intuitive Surgical Company. Selected issues related to force feedback teleoperation are discussed. The problem of positioning the surgical instrument (the tool of a surgical robot) in remote centre of motion mode was defined. Developed applications controlling the UR5 industrial cobot from company Universal Robots in teleoperation mode were discussed: definition of application problems on the industrial cobot platform, used and custom-built subsystems for positioning and learning by demonstration.",
keywords = "digital twin, force feedback, learning by demonstration, positioning, remote centre of motion, surgical robot, teleoperation",
author = "Roman Trochimczuk and Adam Wolniakowski and Zhuoqi Cheng and Slawomir Romaniuk and Rados{\l}aw Tomaszewski",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 28th International Conference on Methods and Models in Automation and Robotics, MMAR 2024 ; Conference date: 27-08-2024 Through 30-08-2024",
year = "2024",
month = aug,
doi = "10.1109/MMAR62187.2024.10680787",
language = "English",
series = "International Conference on Methods and Models in Automation and Robotics",
publisher = "IEEE",
pages = "253--258",
booktitle = "2024 28th International Conference on Methods and Models in Automation and Robotics (MMAR)",
address = "United States",
}