Active constraint control for the surgical robotic platform with concentric connector joints

摘要

• Spinal surgery is frequently required to remove malignant tissue within or around the spinal cord and spinal column. • The surgical robotic platform (SRP) has six degrees of freedom (DOF) to navigate around the target tissue. • A functional position control structure has been built that incorporates haptic technology into the surgical robotic platform concentric connecting joint. • The position control of a surgical robot is combined with constraint control and inverse kinematics, resulting in haptic feedback control. Robotic minimally invasive surgery (MIS) has changed numerous surgical techniques in the past few years and enhanced their results. Haptic feedback is integrated into robotic surgical systems to restore the surgeon's perception of forces in response to interaction with objects in the surgical environment. The ideal exact emulation of the robot's interaction with its physical environment in free space is a very challenging problem to solve completely. Previously, we introduced the surgical robotic platform (SRP) with a novel concentric connector joint (CCJ). This study aims to develop a haptic control system that integrates an active constraint controller into a surgical robot platform. We have successfully established haptic feedback control for the surgical robot using constraint control and inverse kinematic relationships integrated into the overall positioning structure. A preliminary feasibility study, modelling, and simulation were presented.