Active Contraints for Tool-Shaft Collision Avoidance in Minimally Invasive Surgery

Banach, Artur; Leibrandt, Konrad; Grammatikopoulou, Maria G.; Yang, Guang‐Zhong

doi:10.1109/icra.2019.8794147

Cited by 10 publications

(7 citation statements)

References 20 publications

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“…: There are a myriad competing techniques for the generation of virtual fixtures/active constraints [12]. For nonredundant robots, such as the da Vinci, virtual fixtures based on force feedback on the master side are effective [12], [15], [23]. For redundant robots, such as the SmartArm and similar systems, only force feedback on the master side is in general not enough, owing to possibly infinite mappings between master and slave postures.…”

Section: Vfi Methodsmentioning

confidence: 99%

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Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery

Marinho

Ishida

Harada

et al. 2020

IEEE Robot. Autom. Lett.

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The limited workspace in pediatric endoscopic surgery makes surgical suturing one of the most difficult tasks. During suturing, surgeons have to prevent collisions between tools and also collisions with the surrounding tissues. Surgical robots have been shown to be effective in adult laparoscopy, but assistance for suturing in constrained workspaces has not been yet fully explored. In this letter, we propose guidance virtual fixtures to enhance the performance and the safety of suturing while generating the required task constraints using constrained optimization and Cartesian force feedback. We propose two guidance methods: looping virtual fixtures and a trajectory guidance cylinder, that are based on dynamic geometric elements. In simulations and experiments with a physical robot, we show that the proposed methods achieve a more precise and safer looping in robot-assisted pediatric endoscopy.

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Section: Vfi Methodsmentioning

confidence: 99%

“…To facilitate safer robot-assisted minimally-invasive partial nephrectomy, Banach et al [15] proposed tool-shaft and anatomy collision avoidance using the elasto-plastic frictional force control model and validated it on the da Vinci Research Kit (dVRK) [16].…”

Section: A Related Workmentioning

confidence: 99%

Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery

Marinho

Ishida

Harada

et al. 2020

IEEE Robot. Autom. Lett.

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“…Most of the RAMIS training experiments have been carried out deploying alternative haptic feedback displays such as wrist squeezing devices [28], voice coils [29], tactile actuators [30], or mixed approaches [31] to render the measured or simulated haptic clues. The dVRK is a wellknown research platform in robotic surgery that allows to apply 6 DoF force-torque at its master manipulators [23]; this study fits in this context together with other groups that have been exploring the dVRK stability boundaries and capability as haptic display for surgical simulation [22], [32], [33].…”

Section: Haptic Augmentationmentioning

confidence: 89%

Multi-Sensory Guidance and Feedback for Simulation-Based Training in Robot Assisted Surgery: A Preliminary Comparison of Visual, Haptic, and Visuo-Haptic

Caccianiga

Mariani

Paratesi

et al. 2021

IEEE Robot. Autom. Lett.

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Nowadays, robot assisted surgery training relies more and more on computer-based simulation. However, the application of such training technologies is still limited to the early stages of practical training. To broaden the usefulness of simulators, multi-sensory feedback augmentation has been recently investigated. This study aims at combining initial predictive (guidance) and subsequent error-based (feedback) training augmentation in the visual and haptic domain. 32 participants performed 30 repetitions of a virtual reality task resembling needle-driving by using the surgeon console of the da Vinci Research Kit. These trainees were randomly and equally divided into four groups: one group had no training augmentation, while the other groups underwent visual, haptic and visuo-haptic augmentation, respectively. Results showed a significant improvement, initially introduced by guidance, in the task completion capabilities of all the experimental groups against control. In terms of accuracy, the experimental groups outperformed the control group at the end of training. Specifically, visual guidance and haptic feedback played a significant role in error reduction. Further investigations on long term learning could better delineate the optimal combination of guidance and feedback in these sensory domains.

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“…The researchers also explored how such systems can link to automation [118], [212], [213], [224], [228]. The use of virtual fixtures, previously mentioned in the "Training, Skill Assessment, and Gesture Recognition" section as an intraoperative guidance tool, were investigated in [26]- [28], [77], [84], [167], [168], [205], [208], and [209] by providing constraints on the instruments' workspace. The use of force information within augmented reality to provide the surgeons with visual feedback about forces (the socalled pseudohaptics) was also explored [29], [30], [32], [105], [227], [254].…”

Section: Haptics and Pseudohapticsmentioning

confidence: 99%

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

D'Ettorre

Mariani

Stilli

et al. 2021

IEEE Robot. Automat. Mag.

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This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.R obotic-assisted surgery is now well established in clinical practice and has become the gold-standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade, with a range of new robotic devices emerging to address unmet clinical needs across different specialties. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to repurpose decommissioned da Vinci surgical systems [Intuitive Surgical Inc. (ISI), California, USA] as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this article, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain and build upon this initiative.

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Active Contraints for Tool-Shaft Collision Avoidance in Minimally Invasive Surgery

Cited by 10 publications

References 20 publications

Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery

Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery

Multi-Sensory Guidance and Feedback for Simulation-Based Training in Robot Assisted Surgery: A Preliminary Comparison of Visual, Haptic, and Visuo-Haptic

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

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