Implicit active constraints for a compliant surgical manipulator
File(s)IAC_ICRA2014.pdf (1.26 MB)
Accepted version
Author(s)
Leibrandt, K
Marcus, HJ
Ka-Wai Kwok
Guang-Zhong Yang
Type
Conference Paper
Abstract
Active constraints are high-level control algorithms providing software-generated force feedback from virtual environments. When applied to surgery, they can assist surgeons in performing complex tasks by guiding their navigation pathways along narrow, possibly convoluted, surgical trajectories. This paper presents a method to generate concave tubular constraints implicitly from pre- or intra-operative data. Patient-specific constraints may be generated efficiently with the proposed scheme and readily deployed in various surgical scenarios. Furthermore, a five degree-of-freedom active constraint framework is proposed, which accounts for the entire tool shaft rather than just the end-effector, and is applicable to both static and dynamic active constraint scenarios. Experimental results on simulated surgical tasks show that this framework can improve safety and accuracy as well as reduce the perceived workload during complex surgical tasks.
Date Issued
2014-09-29
Online Publication Date
2014-09-29
2017-09-18T13:53:19Z
Date Acceptance
2014-05-31
ISSN
1050-4729
Publisher
Institute of Electrical and Electronics Engineers
Start Page
276
End Page
283
Journal / Book Title
Proceedings - IEEE International Conference on Robotics and Automation
Copyright Statement
© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Source Database
web-of-science
Source
IEEE International Conference on Robotics and Automation (ICRA)
Subjects
Science & Technology
Technology
Automation & Control Systems
Robotics
VIRTUAL FIXTURES
end effectors
force feedback
medical computing
medical robotics
virtual reality
complex surgical tasks
compliant surgical manipulator
concave tubular constraints
convoluted trajectories
end-effector
high-level control algorithm
implicit active constraint
navigation pathways
software-generated force feedback
surgical trajectories
virtual environments
Force
Heuristic algorithms
Robots
Shafts
Surgery
Three-dimensional displays
Vectors
Start Date
2014-05-31
Finish Date
2014-06-07
Country
Hong Kong, China