Intuitive Control of Hyper-redundant NOTES Platform by Combining Jacobian and Follow the Leader Algorithms

Dae Kyung Sohn, MD, PhD, Kwang Gi Kim, PhD, Chang Nho Cho, MS

National Cancer Center in Korea

Purpose NOTES (Natural Orifice Translumenal Endoscopic Surgery) is a new surgical method with many promising benefits. For NOTES, a highly dexterous tool is required. Hyper-redundant robots can offer such dexterity, but they require complex control algorithms. In this study, we propose a simple, but efficient semi-automatic algorithm to intuitively control hyper-redundant robots to perform NOTES.

Methods A novel control algorithm for hyper-redundant robots is proposed, which combines traditional Jacobian-based control method with “follow the leader” approach. The first seven joints of the robot will be controlled by traditional Jacobian-based algorithm. The remainder of the robot is controlled by “Follow the Leader” algorithm; they will repeat the motion of the first seven joints. This allows the robot to follow the desired trajectory with minimum computational load. A series of simulation was conducted to verify the feasibility of the proposed algorithm.

Results The simulation results show that by using the proposed algorithm, the robot can navigate through a complex geometry while maintaining its orientation. This would allow the surgeons to easily perform NOTES with a hyper-redundant robot.

Fig.1 Study overview (a) target algorithm and (b) simulated robot
Fig.1 Study overview (a) target algorithm and (b) simulated robot

Fig. 2 Simulation results (a) posture of robot and (b) orientation of robot
Fig. 2 Simulation results (a) posture of robot and (b) orientation of robot


Session: Poster Presentation

Program Number: ETP038

« Return to SAGES 2013 abstract archive