Dynamic Virtual Fixtures Based on Path Following Control

Bischof, Bernhard; Kugi, Andreas

doi:10.1016/j.ifacol.2019.11.817

Cited by 4 publications

(1 citation statement)

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“…However, in surgical tasks where the environment is dynamic and complex, it becomes tedious and impractical to manually select and define geometric primitives. The research on the dynamic virtual fixture is limited [ 12 , 13 ].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Virtual Fixture Generation Based on Intra-Operative 3D Image Feedback in Robot-Assisted Minimally Invasive Thoracic Surgery

Shi,

Zhu,

Wang

et al. 2024

Sensors

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This paper proposes a method for generating dynamic virtual fixtures with real-time 3D image feedback to facilitate human–robot collaboration in medical robotics. Seamless shared control in a dynamic environment, like that of a surgical field, remains challenging despite extensive research on collaborative control and planning. To address this problem, our method dynamically creates virtual fixtures to guide the manipulation of a trocar-placing robot arm using the force field generated by point cloud data from an RGB-D camera. Additionally, the “view scope” concept selectively determines the region for computational points, thereby reducing computational load. In a phantom experiment for robot-assisted port incision in minimally invasive thoracic surgery, our method demonstrates substantially improved accuracy for port placement, reducing error and completion time by 50% (p=1.06×10−2) and 35% (p=3.23×10−2), respectively. These results suggest that our proposed approach is promising in improving surgical human–robot collaboration.

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Section: Introductionmentioning

confidence: 99%