Spatial Motion Constraints for Robot Assisted Suturing Using Virtual Fixtures

Kapoor, Ankur; Li, Ming; Taylor, Russell H.

doi:10.1007/11566489_12

Cited by 33 publications

(24 citation statements)

References 14 publications

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“…VFs include built-in no-go zones where the instruments cannot be moved to or past, as well as geometric constraints and preplanned paths for following a desired trajectory [30]. One of the obvious benefits of this would be limiting the ability of a surgeon to have her instruments outside of her field of view.…”

Section: Augmented Realitymentioning

confidence: 99%

Surgical Simulation in Pediatric Urologic Education

Lendvay

2011

Curr Urol Rep

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The drive to achieve improved patient outcomes and patient safety has led to innovation in surgical education. The century-old teaching paradigms of "see one, do one, teach one" and training by opportunity are inappropriate in a surgical world of rapidly introduced advanced technologies. The need for improved surgical education methods is no more critical than in pediatric surgery, where the complexity of patient diseases and the physical size of the patients tend to challenge the limitations of existing surgical technology and skill. Surgical simulation offers extraordinary opportunities to teach multiple clinical scenarios in a safe, nonhuman patient environment where performance feedback is immediate and objective. Although minimally invasive surgical techniques (laparoscopic and robotic) are ideally suited for computer-assisted or virtual reality training, medical decision-making simulation for minimally invasive surgery and open surgery is in its infancy and, arguably, the most important aspect of effective surgical practice.

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Section: Augmented Realitymentioning

confidence: 99%

Surgical Simulation in Pediatric Urologic Education

Lendvay

2011

Curr Urol Rep

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“…One example involve a system capable to segment a surgeon's motion during a suturing task with a da Vinci [11] and to synchronize a similar motion segment recorded by an expert. Various systems have proposed to combine haptic feedback with virtual fixtures [12] to guide the motion of the surgeon along a path in the workspace [13], [14] or to prevent the end-effector from entering specific areas [15].…”

Section: Previous Workmentioning

confidence: 99%

Smart Tissue Anastomosis Robot (STAR): Accuracy evaluation for supervisory suturing using near-infrared fluorescent markers

Léonard

Shademan

Kim

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper specifies and evaluates the accuracy of the Smart Tissue Anastomosis Robot (STAR). The STAR is a proof of concept vision-guided robotic system equipped with an actuated laparoscopic suturing tool and a multispectral vision system. The STAR supports image-based suturing commands and is capable of detecting near-infrared fluorescent (NIRF) markers that provide reliable visual segmentation and tracking. The paper reports the best case scenario accuracy specifications of the STAR as derived from its configuration and calibration parameters. We also evaluate experimentally the effects of overlaying NIRF markers on the accuracy of the STAR when these markers are used as the source of image-based commands and we compare these results to the accuracy of the STAR with image-based commands generated from plain color images. Our results demonstrate that the STAR is able to place sutures on a planar phantom with an average accuracy of 0.5 mm with a standard deviation of 0.2 mm and that NIRF markers have no statistically significant adverse effect on the accuracy.

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“…Kapoor and Taylor (8) introduced the notion of "soft" virtual fixture mechanisms for robotic surgical assistance. Most early reported studies concentrated on system performance using VFs (9,10) or VF applications based on a predefined geometric surface or path. (11,12) More VF construction methods have been described in a recent survey.…”

Section: Introductionmentioning

confidence: 99%

Haptic Assisted Teleoperation Based on Virtual Fixture and Dynamic Modelling

2017

Sensors and Materials

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It is a difficult task to teleoperate a robot in a partially known or unstructured environment without any assistance. In this paper, a haptic assisted teleoperation system is discussed that provides virtual fixtures for motion guidance and haptic feedbacks for dynamic interaction. First, a novel virtual fixture generation method based on a point-set implicit surface was proposed in a point cloud augmented virtual environment for human operational guidance. A robot-centered potential force field model was applied to generate guidance virtual fixtures. The resultant forces generated from both forbidden region and guidance virtual fixtures were fed back in real time to the human operator through a haptic device. Second, a real-time dynamic modelling method was proposed to reconstruct contacts in the teleoperation system. For the reconstruction of dynamic properties, an adaptive forgetting factor recursive least-squares method was applied for real-time parameter estimation. With haptic assistance from the motion guidance force and the dynamic force feedback, human operators could efficiently achieve targets and complete interactive tasks. The experimental results show that the proposed methods are effective for robot teleoperation.

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Spatial Motion Constraints for Robot Assisted Suturing Using Virtual Fixtures

Cited by 33 publications

References 14 publications

Surgical Simulation in Pediatric Urologic Education

Surgical Simulation in Pediatric Urologic Education

Smart Tissue Anastomosis Robot (STAR): Accuracy evaluation for supervisory suturing using near-infrared fluorescent markers

Haptic Assisted Teleoperation Based on Virtual Fixture and Dynamic Modelling

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