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Inducing Performance of Commercial Surgical Robots in Space
Pre-existing surgical robotic systems are sold with electronics (sensors and controllers) that can prove difficult to retroactively improve when newly developed methods are proposed. Improvements must be somehow “imposed” upon the original robotic systems. What options are available for imposing per...
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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MDPI
2023
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Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9920638/ https://www.ncbi.nlm.nih.gov/pubmed/36772552 http://dx.doi.org/10.3390/s23031510 |
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author | Sands, Timothy |
author_facet | Sands, Timothy |
author_sort | Sands, Timothy |
collection | PubMed |
description | Pre-existing surgical robotic systems are sold with electronics (sensors and controllers) that can prove difficult to retroactively improve when newly developed methods are proposed. Improvements must be somehow “imposed” upon the original robotic systems. What options are available for imposing performance from pre-existing, common systems and how do the options compare? Optimization often assumes idealized systems leading to open-loop results (lacking feedback from sensors), and this manuscript investigates utility of prefiltering, such other modern methods applied to non-idealized systems, including fusion of noisy sensors and so-called “fictional forces” associated with measurement of displacements in rotating reference frames. A dozen modern approaches are compared as the main contribution of this work. Four methods are idealized cases establishing a valid theoretical comparative benchmark. Subsequently, eight modern methods are compared against the theoretical benchmark and against the pre-existing robotic systems. The two best performing methods included one modern application of a classical approach (velocity control) and one modern approach derived using Pontryagin’s methods of systems theory, including Hamiltonian minimization, adjoint equations, and terminal transversality of the endpoint Lagrangian. The key novelty presented is the best performing method called prefiltered open-loop optimal + transport decoupling, achieving 1–3 percent attitude tracking performance of the robotic instrument with a two percent reduced computational burden and without increased costs (effort). |
format | Online Article Text |
id | pubmed-9920638 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-99206382023-02-12 Inducing Performance of Commercial Surgical Robots in Space Sands, Timothy Sensors (Basel) Article Pre-existing surgical robotic systems are sold with electronics (sensors and controllers) that can prove difficult to retroactively improve when newly developed methods are proposed. Improvements must be somehow “imposed” upon the original robotic systems. What options are available for imposing performance from pre-existing, common systems and how do the options compare? Optimization often assumes idealized systems leading to open-loop results (lacking feedback from sensors), and this manuscript investigates utility of prefiltering, such other modern methods applied to non-idealized systems, including fusion of noisy sensors and so-called “fictional forces” associated with measurement of displacements in rotating reference frames. A dozen modern approaches are compared as the main contribution of this work. Four methods are idealized cases establishing a valid theoretical comparative benchmark. Subsequently, eight modern methods are compared against the theoretical benchmark and against the pre-existing robotic systems. The two best performing methods included one modern application of a classical approach (velocity control) and one modern approach derived using Pontryagin’s methods of systems theory, including Hamiltonian minimization, adjoint equations, and terminal transversality of the endpoint Lagrangian. The key novelty presented is the best performing method called prefiltered open-loop optimal + transport decoupling, achieving 1–3 percent attitude tracking performance of the robotic instrument with a two percent reduced computational burden and without increased costs (effort). MDPI 2023-01-29 /pmc/articles/PMC9920638/ /pubmed/36772552 http://dx.doi.org/10.3390/s23031510 Text en © 2023 by the author. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Sands, Timothy Inducing Performance of Commercial Surgical Robots in Space |
title | Inducing Performance of Commercial Surgical Robots in Space |
title_full | Inducing Performance of Commercial Surgical Robots in Space |
title_fullStr | Inducing Performance of Commercial Surgical Robots in Space |
title_full_unstemmed | Inducing Performance of Commercial Surgical Robots in Space |
title_short | Inducing Performance of Commercial Surgical Robots in Space |
title_sort | inducing performance of commercial surgical robots in space |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9920638/ https://www.ncbi.nlm.nih.gov/pubmed/36772552 http://dx.doi.org/10.3390/s23031510 |
work_keys_str_mv | AT sandstimothy inducingperformanceofcommercialsurgicalrobotsinspace |