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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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Autor principal: Sands, Timothy
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
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
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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).
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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
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