Teleoperation in Robot-assisted MIS with Adaptive RCM via Admittance Control

Teleoperation in Robot-assisted MIS with Adaptive RCM via Admittance Control | 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 Teleoperation in Robot-assisted MIS with Adaptive RCM via Admittance Control Ehsan Nasiri, Srikarran Sowrirajan, Long Wang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4702005/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 02 Nov, 2024 Read the published version in International Journal of Intelligent Robotics and Applications → Version 1 posted 10 You are reading this latest preprint version Abstract This paper presents the development and assessment of a teleoperation framework for robot-assistedminimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remotecenter of motion (RCM) using admittance control. This framework operates within a redundancyresolution method specifically designed for the RCM constraint. We introduce a compact, low-cost,and modular custom-designed instrument module (IM) that ensures integration with the manipulator,featuring a force/torque sensor, a surgical instrument, and an actuation unit for driving the surgicalinstrument. The paper details the complete teleoperation framework, including the telemanipulationtrajectory mapping, kinematic modelling, control strategy, and the integrated admittance controller.Finally, the system’s capability to perform various surgical tasks was demonstrated, including passinga thread through the rings, picking and placing objects, and trajectory tracking. minimally invasive surgery remote center of motion teleoperation constrained kinematics force-motion control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 02 Nov, 2024 Read the published version in International Journal of Intelligent Robotics and Applications → Version 1 posted Editorial decision: Revision requested 23 Aug, 2024 Reviews received at journal 14 Aug, 2024 Reviews received at journal 09 Aug, 2024 Reviewers agreed at journal 06 Aug, 2024 Reviewers agreed at journal 05 Aug, 2024 Reviewers agreed at journal 18 Jul, 2024 Reviewers invited by journal 18 Jul, 2024 Editor assigned by journal 08 Jul, 2024 Submission checks completed at journal 08 Jul, 2024 First submitted to journal 07 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-4702005","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":332244351,"identity":"3547a72d-9c33-4cd4-afb4-c1abada95382","order_by":0,"name":"Ehsan Nasiri","email":"","orcid":"","institution":"Stevens Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Ehsan","middleName":"","lastName":"Nasiri","suffix":""},{"id":332244353,"identity":"20fa4415-b332-4886-b885-ea982195d6fd","order_by":1,"name":"Srikarran Sowrirajan","email":"","orcid":"","institution":"Stevens Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Srikarran","middleName":"","lastName":"Sowrirajan","suffix":""},{"id":332244355,"identity":"8a535efc-a0b3-4237-8101-c92df1398a47","order_by":2,"name":"Long Wang","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA00lEQVRIiWNgGAWjYBACPjDJY4MkdICAFjYwKZPGwEOiFpvDpGiRSH728EvOeXt79h7DxwV/GOT4biQQ0pJmbixz5nZiD88ZY+OZbQzGkgS1SCeYSUv23E7gkUhLk+ZtYEjcQFhL+jdpyX/n7Hnkn6X/5vnDUE+ElhwzyQ88Bxh7JJiPMfOwMSQYENQi/6ZMmoEnObHnTPJhad42CcOZZx7g18LPc3yb5A8eO3v29oONn3n+2MjzHSdgCwgwI+KEQYKwchBg/EGculEwCkbBKBipAACfhz0VEYQUYQAAAABJRU5ErkJggg==","orcid":"","institution":"Stevens Institute of Technology","correspondingAuthor":true,"prefix":"","firstName":"Long","middleName":"","lastName":"Wang","suffix":""}],"badges":[],"createdAt":"2024-07-08 01:47:55","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4702005/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4702005/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s41315-024-00389-0","type":"published","date":"2024-11-02T16:13:10+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":68206958,"identity":"c3948cc9-f08c-408c-b039-03fd32bf8f91","added_by":"auto","created_at":"2024-11-04 16:34:02","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1830380,"visible":true,"origin":"","legend":"","description":"","filename":"jfddmqyvtwsjsvvycckddjkqnssqxwbs.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4702005/v1_covered_2e787d78-a86d-4063-864b-28d1afdaf67a.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Teleoperation in Robot-assisted MIS with Adaptive RCM via Admittance Control","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":"international-journal-of-intelligent-robotics-and-applications","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"jira","sideBox":"Learn more about [International Journal of Intelligent Robotics and Applications](https://www.springer.com/journal/41315)","snPcode":"41315","submissionUrl":"https://submission.springernature.com/new-submission/41315/3","title":"International Journal of Intelligent Robotics and Applications","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"minimally invasive surgery, remote center of motion, teleoperation, constrained kinematics, force-motion control","lastPublishedDoi":"10.21203/rs.3.rs-4702005/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4702005/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This paper presents the development and assessment of a teleoperation framework for robot-assistedminimally invasive surgery (MIS). 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