A multi-degree-of-freedom heterogeneous remote operating system is built to improve the smoothness of minimally invasive surgical robot trajectories. In order to solve the shaking problem of follower arm caused by low leader-follower mapping frequency, a timed sampling polynomial interpolation method is proposed. The leaderfollower consistent motion mapping under the geodetic coordinate system is established by using the homogeneous transformation matrices. The leader-follower motion control algorithm based on position and pose separation is designed, which includes relative motion control and absolute pose control algorithms. Furthermore, the remapping auxiliary function for leader-follower control is added, allowing for motion control of heterogeneous leader-follower system in different work spaces. Finally, multiple sets of experiments are conducted to validate the effectiveness of the aforementioned algorithms. The stability of the system is demonstrated through experiments involving collar and collar-slide setups.
Li Mengwen, Lv Penghao, Liu Qiao, Dai Yu, Zhang Jianxun
. Leader-Follower Control Algorithm for Minimally Invasive Surgical Robot[J]. Journal of Shanghai Jiaotong University(Science), 2026
, 31(1)
: 24
-35
.
DOI: 10.1007/s12204-025-2796-6
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