SUMMARYConstrained motion is essential for varying robotics tasks, especially in surgical robotics, for instance, the case of minimally invasive interventions. This article proposes generic formulations of the classical bilateral constrained motion (i.e., when the incision hole has almost the same diameter as that of the tool) as well as unilaterally constrained motion (i.e., when the hole incision has a larger diameter compared to the tool diameter). One of the latter constraints is combined with another surgical task such as incision/ablation or suturing a wound (modeled here by 3D geometric paths). The developed control methods based on the hierarchical task approach are able to manage simultaneously the constrained motion (depending on the configuration case, i.e., bilateral or unilateral constraint) and a 3D path following. In addition, the proposed methods can operate with both straight or curved surgical tools. The proposed methods were successfully validated in various scenarios. Foremost, a simulation framework was proposed to access the performances of each proposed controller. Thereafter, several experimental validations were carried out. Both the simulation and experimental results have demonstrated the relevance of the proposed approach, as well as promising performances in terms of behavior as well as accuracy.

中文翻译：

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弯曲手术工具的单边约束运动

总结约束运动对于不同的机器人任务至关重要，尤其是在手术机器人中，例如微创干预的情况。本文提出了经典双边约束运动（即，当切口孔的直径与工具的直径几乎相同时）和单侧约束运动（即，当孔切口的直径大于工具时）的通用公式。直径）。后一种约束与另一种手术任务相结合，例如切口/消融或缝合伤口（此处由 3D 几何路径建模）。基于分层任务方法开发的控制方法能够同时管理受约束的运动（取决于配置情况，即双边或单边约束）和 3D 路径跟踪。此外，所提出的方法可以使用直的或弯曲的手术工具进行操作。所提出的方法已在各种场景中成功验证。首先，提出了一个仿真框架来访问每个提出的控制器的性能。此后，进行了多次实验验证。模拟和实验结果都证明了所提出方法的相关性，以及在行为和准确性方面的有希望的表现。