ArticleFrontiers in robotics and AI2023
Navigation with minimal occupation volume for teleoperated snake-like surgical robots: MOVE.
Article in Frontiers in robotics and AI, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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1 citing paper in PubMed, 1 citations in OpenAlex.
- [Collaborative motion control method for dual-arm surgical robots based on hybrid multi-stage optimization].Sheng wu yi xue gong cheng xue za zhi = Journal of biomedical engineering = Shengwu yixue gongchengxue zazhi · 2026Article
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2 authors at 2 institutions in 2 countries.
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Abstract
Master-Slave control is a common mode of operation for surgical robots as it ensures that surgeons are always in control and responsible for the procedure. Most teleoperated surgical systems use low degree-of-freedom (DOF) instruments, thus facilitating direct mapping of manipulator position to the instrument pose and tip location (tip-to-tip mapping). However, with the introduction of continuum and snake-like robots with much higher DOF supported by their inherent redundant architecture for navigating through curved anatomical pathways, there is a need for developing effective kinematic methods that can actuate all the joints in a controlled fashion. This paper introduces the concept of navigation with Minimal Occupation VolumE (MOVE), a teleoperation method that extends the concept of follow-the-leader navigation. It defines the path taken by the head while using all the available space surrounding the robot constrained by individual joint limits. The method was developed for the
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