A constrained optimization approach to virtual fixtures

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 1408-1413

  Li, Ming ^a   Kapoor, Ankur ^a   Taylor, Russell H ^a  

^a Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COST FUNCTIONS; DIGITAL LIBRARIES; FIXTURES (TOOLING); INTELLIGENT ROBOTS; LINEARIZATION; MULTIOBJECTIVE OPTIMIZATION; SURGERY;

GEOMETRIC CONSTRAINT; HUMAN-MACHINE COLLABORATIVE SYSTEMS; INSTANTANEOUS KINEMATICS; SPATIAL MOTIONS; SURGICAL APPLICATIONS; VIRTUAL FIXTURE;

CONSTRAINED OPTIMIZATION;

EID: 33947402992     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545420     Document Type: Conference Paper

References (13)

1. L. Rosenberg, "Virtual Fixtures: Perceptual Tools for Telerobotic Manipulation, " Proceedings of the IEEE Virtual Reality International Symposium, pp. 76-82, 1993.
2. M. A. Peshkin, J. E. Colgate, W. Wannasuphoprasit, C. A. Moore, R. B. Gillespie, and P. Akella, "Cobot Architecture, " IEEE Transactions on Robotics and Automation, pp. 377-390. 17(4), 2001. (Pubitemid 33048324)
3. B. L. Davies, S. J. Harris, W. J. Lin, R. D. Hibberd, R. Middleton, J. C. Cobb, "Active Compliance in robotic surgery - the use of force control as a dynamic constraint, " Proceedings of the I MECH E Part H Journal of Engineering in Medicine, vol. 211, pp. 285-292, 1997. (Pubitemid 127797238)
4. S. Park, R. Howe, and D. Torchiana, "Virtual fixtures for Robotic Cardiac Surgery, " 4th International Conference on Medical Image Computing and Computer-Assisted Intervention, 2001.
5. R. H. Taylor, J. Patrick, L. L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. deJuan, L. Kavoussi, "A Steady-Hand Robotic System for Microsurgical Augmentation, " International Journal of Robotics Research, vol. 18(12), pp. 1201-1210, 1999. (Pubitemid 30522999)
6. A. Bettini, S. Lang, A. Okamura, G. Hager, "Vision Assisted Control for Manipulation Using Virtual Fixtures, " IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1171-1176, 2001. (Pubitemid 34683806)
7. A. Bettini, S. Lang, A. M. Okamura, and G. Hager., "Vision assisted control for manipulation using virtual fixtures: Experiments at macro and micro scales., " Proc. IEEE International Conference on Robotics and Automation, pp. 3354-3361, 2002. (Pubitemid 34916062)
8. P. Marayong, M. Li, A. M. Allison, G. D. Hager, "Spatial Motion Constraints: Theory and Demonstrations for Robot Guidance Using Virtual Fixtures, " Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp. 1954-1959, 2003.
9. M. Li, and R. H. Taylor, "Spatial Motion Constraints in Medical Robot Using Virtual Fixtures Generated by Anatomy, " Proceedings of the 2004 IEEE International Conference on Robotics and Automation, pp. 1270- 1275, 2004.
10. M. Li, and R. H. Taylor, "Optimum Robot Control for 3D Virtual Fixture in Constrained ENT Surgery, " Proceeding of Medical Image Computing and Computer Assisted Intervention (MICCAI), pp. 165-172, 2003.
11. J. Funda, R. H. Taylor, B. Eldridge, S. Gomory, K. G. Gruben, "Constrained Cartesian motion control for teleoperated surgical robots, " IEEE Transactions on Robotics and Automation, vol. 1996, 12(3), pp. 453-465, 1996. (Pubitemid 126774412)
12. C. Lawson, and R. Hanson, "Solving Least Squares Problems, " Englewood Cliffs, NJ: Prentice-Hall, 1974.
13. A. Kapoor, and N. Simaan, and R. H. Taylor, "Suturing in Confined Spaces: Constrained Motion Control of a Hybrid 8-DoF Robot, " International Conference on Advanced Robotics, Seattle, WA, 2005.