Real-time active constraint generation and enforcement for surgical tools using 3D detection and localisation network
Spyridon Souipas,
Anh Nguyen,
Stephen G. Laws
et al.
Abstract:Introduction: Collaborative robots, designed to work alongside humans for manipulating end-effectors, greatly benefit from the implementation of active constraints. This process comprises the definition of a boundary, followed by the enforcement of some control algorithm when the robot tooltip interacts with the generated boundary. Contact with the constraint boundary is communicated to the human operator through various potential forms of feedback. In fields like surgical robotics, where patient safety is par… Show more
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