Passive Virtual Fixtures Adaptation in Minimally Invasive Robotic Surgery

Selvaggio, Mario; Fontanelli, Giuseppe Andrea; Ficuciello, Fanny; Villani, Luigi; Siciliano, Bruno

doi:10.1109/lra.2018.2849876

Cited by 55 publications

(43 citation statements)

References 26 publications

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“…Under this perspective, the work in ref. [37], is similar to our ideas since the virtual guides are generated through a penalized regression spline fitting algorithm which can be successively adapted online by recording new points. The main difference between this approach and ours is that our framework allows separation between rotations and translations which is useful to teach complex virtual guides in space.…”

Section: Modification Of Virtual Guidesmentioning

confidence: 99%

Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human–Robot Comanipulation

Restrepo¹,

Raiola²,

Guerry³

et al. 2020

Robotica

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SUMMARY In human–robot comanipulation, virtual guides are an important tool used to assist the human worker as they constrain the movement of the robot to improve the task accuracy and to avoid undesirable effects, such as collisions with the environment. Consequently, the physical effort and cognitive overload are reduced during accomplishment of comanipulative tasks. However, the construction of virtual guides often requires expert knowledge and modeling of the task, which restricts the usefulness of virtual guides to scenarios with fixed constraints. Moreover, few approaches have addressed the implementation of virtual guides enforcing orientation constraints and, when done, these approaches have treated translation and orientation separately, and consequently there is no synchronization of the translational and rotational motions. To overcome these challenges and enhance the programming flexibility of virtual guides, we present a new framework that allows the user to create 6D virtual guides through XSplines which we define as a combination of Akima splines for the translation component and spherical cubic interpolation of quaternions for the orientation component. For complex tasks, the user is able to initially define a 3D virtual guide and then use this assistance in translational motion to concentrate only on defining the orientations along the path. It is also possible for the user to modify a particular point or portion of a guide while being assisted by it. We demonstrate in an industrial scenario that these innovations provide an intuitive solution to extend the use of virtual guides to 6 degrees of freedom and increase the human worker’s comfort during the programming phase of these guides in an assisted human–robot comanipulation context.

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Section: Modification Of Virtual Guidesmentioning

confidence: 99%

Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human–Robot Comanipulation

Restrepo¹,

Raiola²,

Guerry³

et al. 2020

Robotica

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“…which represents the sought haptic guided system. More details on the use of impedance control for haptic rendering with the dVRK robot are given in [22].…”

Section: Haptic Guidancementioning

confidence: 99%

Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

Selvaggio

Moccia

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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During suturing tasks performed with minimally invasive surgical robots, configuration singularities and joint limits often force surgeons to interrupt the task and regrasp the needle using dual-arm movements. This yields an increased operator's cognitive load, time-to-completion, fatigue and performance degradation. In this paper, we propose a haptic-guided shared control method for grasping the needle with the Patient Side Manipulator (PSM) of the da Vinci robot avoiding such issues. We suggest a cost function consisting of (i) the distance from robot joint limits and (ii) the task-oriented manipulability over the suturing trajectory. We evaluate the cost and its gradient on the needle grasping manifold that allows us to obtain the optimal grasping pose for joint-limit and singularity free movements of the needle during suturing. Then, we compute force cues that are applied to the Master Tool Manipulator (MTM) of the da Vinci to guide the operator towards the optimal grasp. As such, our system helps the operator to choose a grasping configuration allowing the robot to avoid joint limits and singularities during post-grasp suturing movements. We show the effectiveness of our proposed hapticguided shared control method during suturing using both simulated and real experiments. The results illustrate that our approach significantly improves the performance in terms of needle re-grasping.

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“…Despite the fact that working implementations could be found e.g., on instrument segmentation/pose estimation [21,22] or organ segmentation and 3D reconstruction [23][24][25], autonomous navigation inside the patient's body still presents a huge challenge being under intensive research. As of today, shared control is a more viable option for these clinical routines [26,27]. Furthermore, the generation of required motion patterns and the design of control methods for the manipulation of unknown soft tissues is also problematic [28].…”

Section: Subtask Automation In Surgerymentioning

confidence: 99%

A DVRK-based Framework for Surgical Subtask Automation

2019

APH

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Robotic assistance is becoming a standard in Minimally Invasive Surgery. Despite its clinical benefits and technical potential, surgeons still have to perform manually a number of monotonous and time-consuming surgical subtasks, like knot-tying or blunt dissection. Many believe that the next bold step in the advancement of robotic surgery is the automation of such subtasks. Partial automation can reduce the cognitive load on surgeons, and support them in paying more attention to the critical elements of the surgical workflow. Our aim was to develop a software framework to ease and hasten the automation of surgical subtasks. This framework was built alongside the Da Vinci Research Kit (DVRK), while it can be ported onto other robotic platforms, since it is based on the Robot Operating System (ROS). The software includes both stereo vision-based and hierarchical motion planning, with a wide palette of often used surgical gestures-such as grasping, cutting or soft tissue manipulation-as building blocks to support the high-level implementation of autonomous surgical subtask execution routines. This open-source surgical automation framework-named irob-saf-is available at https://github.com/ABC-iRobotics/irob-saf.

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Passive Virtual Fixtures Adaptation in Minimally Invasive Robotic Surgery

Cited by 55 publications

References 26 publications

Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human–Robot Comanipulation

Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human–Robot Comanipulation

Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

A DVRK-based Framework for Surgical Subtask Automation

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