Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization

Effective teleoperation of the small-scale and highly-integrated robots for single-port surgery (SPS) imposes unique control human-robot interaction challenges. Traditional isometric schemes mainly focus on end-to-end trajectory mapping, which is problematic when applied to SPS robotic control, especially dual-arm coordinated operation. Inspired by human arm configuration in boxing maneuvers, an optimized anthropomorphic strategy based a dual-step optimization approach proposed. Theoretical derivation solvability problem are addressed, effectiveness method further demonstrated detailed simulation in-vitro experiments. The proposed has been shown perform dexterous bimanual manipulation more effectively, involving less instrument-interference free from singularities, thereby improving safety efficiency operations.