Deformation invariant bounding spheres for dynamic active constraints in surgery
File(s)
Accepted version
Author(s)
Bowyer, Stuart A
Rodriguez y Baena, Ferdinando
Type
Journal Article
Abstract
Active constraints are collaborative robot control strategies, which can be used to guide a surgeon or protect delicate tissue structures during robot-assisted surgery. Tissue structures of interest often move and deform throughout a surgical intervention, and therefore, dynamic active constraints, which adapt and conform to these changes, are required. A fundamental element of an active constraint controller is the computation of the geometric relationship between the constraint geometry and the surgical instrument. For a static active constraint, there are a variety of computationally efficient methods for computing this relative configuration; however, for a dynamic active constraint, it becomes significantly more challenging. Deformation invariant bounding spheres are a novel bounding volume formulation, which can be used within a hierarchy to allow efficient proximity queries within dynamic active constraints. These bounding spheres are constructed in such a way that as the surface deforms, they do not require time-consuming rebuilds or updates, rather they are implicitly updated and continue to represent the underlying geometry as it changes. Experimental results show that performing proximity queries with deformation invariant bounding sphere hierarchies is faster than common methods from the literature when the deformation rate is within the range expected from conventional imaging systems.
Date Issued
2014-04-01
Date Acceptance
2014-03-01
Citation
Proceedings of the Institution of Mechanical Engineers Part H: Journal of Engineering in Medicine, 2014, 228 (4), pp.350-361
ISSN
0954-4119
Publisher
SAGE Publications
Start Page
350
End Page
361
Journal / Book Title
Proceedings of the Institution of Mechanical Engineers Part H: Journal of Engineering in Medicine
Volume
228
Issue
4
Copyright Statement
© IMechE 2014.
Identifier
https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000336960600004&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=a2bf6146997ec60c407a63945d4e92bb
Subjects
ARTICULATED SNAKE ROBOT
BEATING HEART
COLLISION DETECTION
Engineering
Engineering, Biomedical
haptic rendering
HIERARCHIES
medical robotics
proximity querying
Science & Technology
space-partitioning trees
Technology
Virtual fixtures
VIRTUAL FIXTURES
Publication Status
Published
Coverage Spatial
England
Date Publish Online
2014-03-12