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Conference Paper
Spatial Zone-Based Adaptive Control for Surgical Articulated Robots for Thyroid Surgery
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- Authors
- Wookyong Kwon, Kyungsoo Kim, Je-Youn Dong
- Issue Date
- 2026-07
- Citation
- Asian Conference on Computer-Aided Surgery (ACCAS) 2026, pp.119-120
- Publisher
- Asian Society of Computer Aided Surgery
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper proposes a learning-based adaptive hybrid force/position control framework for articulated manipulators, specifically designed for surgical applications requiring high precision and safety. The proposed approach introduces a zone-aware control strategy that dynamically modulates the robot’s motion and control mode based on its spatial proximity to the surgical site. In the free-space region, the manipulator prioritizes fast and efficient position control to minimize operation time. As the end-effector approaches the target anatomy, the controller gradually reduces velocity using a learned proximity-aware policy, enabling smooth and safe transition into contact. Upon detecting contact with soft or hard tissue, the control scheme autonomously switches from position control to force control, ensuring compliant interaction and minimizing the risk of tissue damage.
- Keyword
- Adaptive control, Hybrid force/position control, Surgical robotics, Contact detection, Zone-based control, Learning-based control, Impedance control
- KSP Keywords
- Articulated robots, Contact detection, Control mode, Control scheme, Control strategy, End-effector, High-precision, Hybrid force/position control, Impedance Control, Learning-based control, Surgical Robotics