Peter Kazanzides: Remote Teleoperation for Satellite Servicing (“Satellite Surgery”)
We are developing methods for telerobotic on-orbit servicing of spacecraft under ground-based supervisory control of human operators to perform tasks in the presence of uncertainty and telemetry time delay of several seconds. As an initial application, we consider the case where the remote slave robot is teleoperated to cut the tape that secures a flap of multi-layer insulation (MLI) over a satellite access panel. This talk will present a delay tolerant control methodology, using virtual fixtures, hybrid position/force control, and environment modeling, that is robust to modeling and registration errors. The task model is represented by graphical primitives and virtual fixtures on the teleoperation master and by a hybrid position/force controller on the slave robot. The virtual fixtures guide the operator through a model-based simulation of the task, and the goal of the slave controller is to reproduce this action (after a few seconds of delay) or, if measurements are not consistent with the models, to stop motion and alert the operator. Experiments, including IRB-approved multi-user studies, are performed with a ground-based test platform where the master console of a da Vinci Research Kit is used to teleoperate a Whole Arm Manipulator (WAM) robot.
Peter Kazanzides has been working in the field of surgical robotics since 1989, when he started as a postdoctoral researcher with Russell Taylor at the IBM T.J. Watson Research Center. Dr. Kazanzides co-founded Integrated Surgical Systems (ISS) in November 1990 to commercialize the robotic hip replacement research performed at IBM and the University of California, Davis. As Director of Robotics and Software, he was responsible for the design, implementation, validation and support of the ROBODOC System, which has been used for more than 20,000 hip and knee replacement surgeries. Dr. Kazanzides joined the Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST ERC) in December 2002 and currently holds an appointment as a Research Professor of Computer Science at Johns Hopkins University. This talk highlights the extension of his research in computer assisted surgery to encompass “surgery” on satellites.