Linear MPC-based Motion Planning for Autonomous Surgery

• Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 5699 - 5706
• Main Authors: Minelli, Marco, Sozzi, Alessio, De Rossi, Giacomo, Ferraguti, Federica, Farsoni, Saverio, Setti, Francesco, Muradore, Riccardo, Bonfe, Marcello, Secchi, Cristian
• Format: Conference Proceeding
• Language: English
• Published: IEEE 23-10-2022
• Subjects: Computational modeling; Linear approximation; Manipulators; Minimally invasive surgery; Predictive models; Real-time systems; Robot kinematics
• ISSN: 2153-0866
• DOI: 10.1109/IROS47612.2022.9982166

Within the context of Robotic Minimally Invasive Surgery (R-MIS), we propose a novel linear model predictive controller formulation for the coordination of multiple autonomous robotic arms. The controller is synthesized by formulating a linear approximation of non-linear constraints, which allows the controller to be both computationally faster and better performing due to the increased prediction horizon allowed within the real-time control requirements for the proposed surgical application. The solution is validated under the expected constraints of a surgical scenario in which multiple laparoscopic tools must move and coordinate in a shared environment.