Telemanipulation of Snake-Like Robots for Minimally Invasive Surgery of the Upper Airway


Abstract. This research focuses on developing and testing the highlevel control of a novel eight DOF hybrid robot using a DaVinci master manipulator. The teleoperation control is formulated as weighted, multi objective constrained least square (LS) optimization problems one for the master controller and the other for the slave controller. This allows us to incorporate various virtual fixtures in our control algorithm as constraints of the LS problem based on the robot environment. Experimental validation to ensure position tracking and sufficient dexterity to perform suturing in confined spaces such as throat are presented.


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