A Path/Surface Following Control Approach to Generate Virtual Fixtures

Bischof, Bernhard; Glück, Tobias; Böck, Martin; Kugi, Andreas

doi:10.1109/tro.2018.2861913

Cited by 15 publications

(3 citation statements)

References 29 publications

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“…A coordinate transformation is defined to map a vector in the generalized Cartesian coordinate of the endoscope manipulator into tangential coordinate  and transversal coordinate  with respect to a constrained surface S [40]. For regular surface ( )…”

Section: B Coordinate Frame Transformationmentioning

confidence: 99%

Active Constrained Motion Control for a Robot-Assisted Endoscope Manipulator in Pediatric Minimal Access Surgery

2024

Preprint

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Robot-assisted laparoscopic surgery has three main system requirements: safety, simplicity, and intuitiveness. However, accidental movement of the endoscope due to body fatigue and misunderstanding of the verbal orders between the surgeon and assistant will contribute to highly unexpected tool-tissue interactions, particularly in pediatric minimal-access surgery with restricted working space. This study introduces a compact, lightweight endoscope manipulator with a mechanical remote-center-motion function. Using a custom-designed human-machine interface, the surgeon can intuitively control the movement of the endoscope manipulator over their view. In addition, an active constrained motion control algorithm is proposed to generate a forbidden-region constraint for avoiding collisions between the endoscope tip and surrounding organs in a pediatric abdominal cavity with restricted space. Simulations and experiments demonstrate the performance of the proposed compact endoscope manipulator and the active constrained surface tracking control scheme.

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Section: B Coordinate Frame Transformationmentioning

confidence: 99%

Active Constrained Motion Control for a Robot-Assisted Endoscope Manipulator in Pediatric Minimal Access Surgery

2024

Preprint

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“…A visual and haptic robot programming system based on mixed reality and force feedback was developed in [30], but the system was not suitable for real-time remote welding operations and was inefficient in unstructured and dynamic welding situations. Haptic feedback provides the welders with additional scene modality and increases the sense of presence in the remote environment, thereby improving the ability to perform complex tasks [31][32][33]. The primary benefit of incorporating haptic effects is to enhance the tele-welding task performance and operator's perception [34].…”

Section: Related Workmentioning

confidence: 99%

Mixed Reality-Enhanced Intuitive Teleoperation with Hybrid Virtual Fixtures for Intelligent Robotic Welding

Chen

Zhou

et al. 2021

Applied Sciences

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This paper presents an integrated scheme based on a mixed reality (MR) and haptic feedback approach for intuitive and immersive teleoperation of robotic welding systems. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time visual feedback from the robot working space. The proposed robotic tele-welding system features imitative motion mapping from the user’s hand movements to the welding robot motions, and it enables the spatial velocity-based control of the robot tool center point (TCP). The proposed mixed reality virtual fixture (MRVF) integration approach implements hybrid haptic constraints to guide the operator’s hand movements following the conical guidance to effectively align the welding torch for welding and constrain the welding operation within a collision-free area. Onsite welding and tele-welding experiments identify the operational differences between professional and unskilled welders and demonstrate the effectiveness of the proposed MRVF tele-welding framework for novice welders. The MRVF-integrated visual/haptic tele-welding scheme reduced the torch alignment times by 56% and 60% compared to the MRnoVF and baseline cases, with minimized cognitive workload and optimal usability. The MRVF scheme effectively stabilized welders’ hand movements and eliminated undesirable collisions while generating smooth welds.

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“…In fact, virtual fixtures [22], [23] are a guiding method complied in software which are used to limit the motion area of robot (i.e., Forbidden-Region Virtual Fixtures, FRVFs [16]), or to move the robot along a given trajectory (i.e., Guided virtual Fixtures [24], GVFs, including pipeline GVFs, vertebral GVFs and linear GVFs). In recent years, virtual fixtures have been widely used in various types of surgical robot.…”

Section: Introductionmentioning

confidence: 99%

A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model

et al. 2019

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Physical human-robot interaction(pHRI) is the most popular way to ensure the safety in robot surgery. Current research of pHRI in operation room focuses on the inside of the surgical area, which adapts virtual fixtures method for ensuring the safety of drag. But the safety problems caused by human error in the stage of dragging the robot from the outside surgical area to the inside surgical area are ignored. Therefore, a method of applying virtual fixtures to the outside of the surgical area is proposed to solve the safety issues during dragging stage outside surgical area. This method takes the kinematics model of human arm as the reference motion trajectory to construct the guided virtual fixtures, which is to restrict the robot movement in a defined area during the pHRI drag. This drag is based on admittance control method to improve safety and ensure flexibility. Experiment results show that the constructed guided virtual fixtures with the trajectory of the human arm model as the central axis, with radius 30mm, and restrict area 5mm can effectively limit the robot motion to a certain range. Simultaneously, the output speed of the robot in tangent direction of the central axis can well follow the change of the force applied by the doctor, and the output speed in the normal direction of the central axis can converge to zero stably at the pipeline boundary. Consequently, the purpose of improving the safety and flexibility of the surgical robot before surgical operation is realized. INDEX TERMS Physical human-robot interaction, security control strategy, arm kinematics, virtual fixtures, surgical robot.

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A Path/Surface Following Control Approach to Generate Virtual Fixtures

Cited by 15 publications

References 29 publications

Active Constrained Motion Control for a Robot-Assisted Endoscope Manipulator in Pediatric Minimal Access Surgery

Active Constrained Motion Control for a Robot-Assisted Endoscope Manipulator in Pediatric Minimal Access Surgery

Mixed Reality-Enhanced Intuitive Teleoperation with Hybrid Virtual Fixtures for Intelligent Robotic Welding

A Virtual Fixtures Control Method of Surgical Robot Based on Human Arm Kinematics Model

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