Overview of selected teleoperation positioning systems for controlling a robot arm operating in Remote Centre of Motion (RCM) mode

Roman Trochimczuk*, Adam Wolniakowski, Zhuoqi Cheng, Slawomir Romaniuk, Radosław Tomaszewski

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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.

Original languageEnglish
Title of host publication2024 28th International Conference on Methods and Models in Automation and Robotics (MMAR)
PublisherIEEE
Publication dateAug 2024
Pages253-258
ISBN (Electronic)9798350362343
DOIs
Publication statusPublished - Aug 2024
Event28th International Conference on Methods and Models in Automation and Robotics, MMAR 2024 - Miedzyzdroje, Poland
Duration: 27. Aug 202430. Aug 2024

Conference

Conference28th International Conference on Methods and Models in Automation and Robotics, MMAR 2024
Country/TerritoryPoland
CityMiedzyzdroje
Period27/08/202430/08/2024
SeriesInternational Conference on Methods and Models in Automation and Robotics
ISSN2835-2815

Keywords

  • digital twin
  • force feedback
  • learning by demonstration
  • positioning
  • remote centre of motion
  • surgical robot
  • teleoperation

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