Internet of Things (IoT)-based Collaborative Control of a Redundant Manipulator for Teleoperated Minimally Invasive Surgeries
Hang Su,Salih Ertug Ovur,Zhijun Li,Yingbai Hu,Jiehao Li,Alois Knoll,Giancarlo Ferrigno,Elena De Momi,Hang Su,Salih Ertug Ovur,Zhijun Li,Yingbai Hu,Jiehao Li,Alois Knoll,Giancarlo Ferrigno,Elena De Momi
In this paper, an Internet of Things-based human-robot collaborative control scheme is developed in Robot-assisted Minimally Invasive Surgery scenario. A hierarchical operational space formulation is designed to exploit the redundancies of the 7-DoFs redundant manipulator to handle multiple operational tasks based on their priority levels, such as guaranteeing a remote center of motion constraint ...
