Bilateral Control Scheme for Surgical Robotic System Collaboration

BSc assignment

This assignment aims to investigate the implementation of a bilateral control scheme in a medical case application. The outcome of this research should be a functional proof of concept of two robotic systems that can collaborate.

The robotic systems in question are:
•A 5 DOF C-Arm fluoroscope
•A 4 DOF Robotic Flexible Catheter

Control of the Catheter will result in the fluoroscope's movement through a coupling mechanism. The optimal position of the camera is determined by its point of interest, which shall track the (upward) normal of the Catheter tip. Position tracking shall then be enforced through a Bilateral Control Law.

This has the advantage of:
•Shared position of the end effector, allowing for control of either system whilst maintaining tracking of the optimal position of each system.
•Environmental input, as experienced by the slave, is relayed to the master.

Validation of the theory presented will be done by simulation of the system. The simulation will be composed of analysis in MATLAB and a 3D model in Python. MATLAB analysis will compare positional data of each system's end effector with the application of test signal varying over time. The 3D model will allow for control of one of the systems. Subsequently, the other system will track the coupled point of interest (bilateral control).

Additionally (depending on available time), the complexity of the model will be increased to make it more realistic. Real life can be more accurately represented by modelling extra system dynamics (friction, heat dissipation etc.). Optimisation of the control law will also be explored. Methods such as minimising a cost function could be employed to determine the optimal parameters for the designed controller.