A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

The restriction of feasible motions a manipulator link constrained to move through an entry port is common problem in minimally invasive surgery procedures. Additional spatial restrictions are required ensure the safety sensitive regions from unintentional damage. In this work, we design target admittance model that proved enforce robot tool manipulation by human remote center motion and guarantee will never enter or touch forbidden regions. control scheme passive under exertion force ensuring stability, smooth natural hands-on surgical procedures enhancing user’s feeling over task. Its performance demonstrated experiments with setup mimicking procedure comprising KUKA LWR4+ virtual intraoperative environment.