Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery

Zheng, Qingwen; He, Yucheng; Qi, Xiaozhi; Zhang, Peng; Hu, Ying; Li, Bing

doi:10.1109/access.2018.2861572

Cited by 6 publications

(4 citation statements)

References 23 publications

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“…In the literature, the term forbidden-region virtual fixtures [12] is used for collaboration tasks where the user can either manipulate a robotic device [13] or telemanipulate a master device [14], [15]. These fixtures could be defined as geometric forms [7], [16] or vector field [18] around the tool. Then a kinematic control [7] or dynamic one [16], [18] is applied to guide the robot during the desired task.…”

Section: Introductionmentioning

confidence: 99%

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Robotic Guidance of a Surgical Tool Under Constrained Motions

Dahroug

Tamadazte

Rougeot

et al. 2023

IEEE Trans. Med. Robot. Bionics

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This article formulates a generic representation of a path-following controller operating under contained motion, which was developed in the context of surgical robotics. It reports two types of constrained motion: i) Bilateral Constrained Motion, also called Remote Centre Motion (RCM), and ii) Unilaterally Constrained Motion (UCM). To deal with the constrained motion of a surgical tool when performing a path-following task inside a cavity, we investigated methods that combine the two tasks operating in a hierarchical manner. The proposed solutions were successfully evaluated, first on our simulator that mimics realistic conditions of middle ear surgery, then on an experimental platform. Different validation scenarios were carried out experimentally to assess quantitatively and qualitatively each developed approach. Although ultimate precision was not the goal of this work, our concept is validated with enough accuracy (≤ 100 µm) for the ear surgery.

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Section: Introductionmentioning

confidence: 99%

“…These fixtures could be defined as geometric forms [7], [16] or vector field [18] around the tool. Then a kinematic control [7] or dynamic one [16], [18] is applied to guide the robot during the desired task.…”

Section: Introductionmentioning

confidence: 99%

Robotic Guidance of a Surgical Tool Under Constrained Motions

Dahroug

Tamadazte

Rougeot

et al. 2023

IEEE Trans. Med. Robot. Bionics

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show abstract

“…Also, to apply the surgical robot to more complex surgical environment, safer and more intuitive pHRI control methods are needed during surgical operating [15]. A well-designed pHRI control strategy can not only lead to high precision and quick response of the robot but also rely on clinical experience and subjective control to ensure that the operation process is in high safe condition [16]. At present, the best way to solve the problem of pHRI safety is to use the impedance and admittance control method [17]- [20].…”

Section: Introductionmentioning

confidence: 99%

“…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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Endoscopic Path Planning in Robot-Assisted Endoscopic Nasal Surgery

Zhang

et al. 2020

IEEE Access

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In robot-assisted endoscopic nasal surgery, due to the slender and complicated nasal cavity and sinus anatomical structure, the nasal endoscope of robot end-effector is prone to injure surrounding tissues during surgical approaches. In order to improve the movement safety of the endoscope in robot-assisted endoscopic nasal surgery, a path planning method for endoscopic surgical approaches based on medical image pixel map searching is proposed in this paper, and safe surgical paths from the nasal entrance point to the operating areas are obtained. Firstly, through the trajectory analysis of nasal endoscope tip during surgery, the path planning requirements of endoscope tip are analyzed and obtained. Then, considering the slender and complicated anatomy of the nasal cavity, a binarized three-dimensional grid map containing the spatial anatomy of the nasal cavity is constructed based on the patient's CT medical image sequence. The endoscopic surgical approaches are searched and optimized by introducing the A-star algorithm, and safe surgical paths from the nasal entrance point to the operating areas are obtained. Finally, a virtual nasal endoscopy system is developed and tested on a head model containing nasal tissue, and the effectiveness of the planned surgical paths is verified by automatic virtual nasal endoscopy browsing experiment.

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Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery

Cited by 6 publications

References 23 publications

Robotic Guidance of a Surgical Tool Under Constrained Motions

Robotic Guidance of a Surgical Tool Under Constrained Motions

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

Endoscopic Path Planning in Robot-Assisted Endoscopic Nasal Surgery

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