Active Constrained Motion Control for a Robot-Assisted Endoscope Manipulator in Pediatric Minimal Access Surgery

Active Constrained Motion Control for a Robot-Assisted Endoscope Manipulator in Pediatric Minimal Access Surgery | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Active Constrained Motion Control for a Robot-Assisted Endoscope Manipulator in Pediatric Minimal Access Surgery Hongbing Li This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4715151/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 24 Oct, 2024 Read the published version in Journal of Robotic Surgery → Version 1 posted 5 You are reading this latest preprint version Abstract Robot-assisted laparoscopic surgery has three main system requirements: safety, simplicity, and intuitiveness. However, accidental movement of the endoscope due to body fatigue and misunderstanding of the verbal orders between the surgeon and assistant will contribute to highly unexpected tool-tissue interactions, particularly in pediatric minimal-access surgery with restricted working space. This study introduces a compact, lightweight endoscope manipulator with a mechanical remote-center-motion function. Using a custom-designed human-machine interface, the surgeon can intuitively control the movement of the endoscope manipulator over their view. In addition, an active constrained motion control algorithm is proposed to generate a forbidden-region constraint for avoiding collisions between the endoscope tip and surrounding organs in a pediatric abdominal cavity with restricted space. Simulations and experiments demonstrate the performance of the proposed compact endoscope manipulator and the active constrained surface tracking control scheme. Robot-assisted laparoscopic surgery tool-tissue interaction active constrained motion control limited working space minimal pediatric access surgery. Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 24 Oct, 2024 Read the published version in Journal of Robotic Surgery → Version 1 posted Editorial decision: Accepted 05 Oct, 2024 Reviewers invited by journal 21 Jul, 2024 Editor assigned by journal 10 Jul, 2024 Submission checks completed at journal 09 Jul, 2024 First submitted to journal 09 Jul, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4715151","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":332006018,"identity":"9337cbbf-e29d-433c-9b08-c9822f97dcd5","order_by":0,"name":"Hongbing Li","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA60lEQVRIiWNgGAWjYBACPmYeEHUASDIfYJAAiyXg18KG0MKWwCCRQIwWBogWIOYxgKompIWd9+Djgl93ZMz513z+YPnjMAM/e44Bw88d+BzGl2w8s+8Zj+WMt9skJBIOM0j2vDFg7D2D1y9m0rw9h3kMbpzdxgDSYnAjx4CZsY0oLWcefwBpsSdKC88PoJbzPQxghxlIENZibMzb8AxoC5uZhERaOo/EmWcFB3vxaOHnP2P4mOfPHXuD84cff5awsZbjb0/e+OAnHi1gAHYGMBqZgbEPjyYC4A/IvgMMjB8IKx0Fo2AUjIIRCAC8oEugwZNazAAAAABJRU5ErkJggg==","orcid":"","institution":"Shanghai Jiao Tong University","correspondingAuthor":true,"prefix":"","firstName":"Hongbing","middleName":"","lastName":"Li","suffix":""}],"badges":[],"createdAt":"2024-07-10 03:08:11","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4715151/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4715151/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s11701-024-02132-0","type":"published","date":"2024-10-24T15:58:22+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":67682521,"identity":"fe590147-0cb5-41e8-8bf4-bbe673bb708e","added_by":"auto","created_at":"2024-10-28 16:14:37","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":724126,"visible":true,"origin":"","legend":"","description":"","filename":"ActiveConstrainedMotionControl247.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4715151/v1_covered_6a0958b8-05f5-4d19-90b9-6b2ac54b9a9b.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Active Constrained Motion Control for a Robot-Assisted Endoscope Manipulator in Pediatric Minimal Access Surgery","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"journal-of-robotic-surgery","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"jors","sideBox":"Learn more about [Journal of Robotic Surgery](http://link.springer.com/journal/11701)","snPcode":"11701","submissionUrl":"https://submission.nature.com/new-submission/11701/3","title":"Journal of Robotic Surgery","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Robot-assisted laparoscopic surgery, tool-tissue interaction, active constrained motion control, limited working space, minimal pediatric access surgery. 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