Virtual Fixtures for Robotic Cardiac Surgery

Park, Shinsuk; Howe, Robert D.; Torchiana, David F.

doi:10.1007/3-540-45468-3_252

Cited by 103 publications

(80 citation statements)

References 2 publications

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“…6, the error in tip position estimation can be on the order of centimeters if a bent instrument shaft is assumed to be straight. Such an error magnitude is larger than the sizes of many surgical targets [2,6]. Tip tracking measures the actual position of the tip, allowing effective image guidance.…”

Section: B Sensitivity Analysis For Jacobianmentioning

confidence: 99%

“…This approach can involve either autonomous robotic control or human-in-the-loop techniques such as augmented reality and virtual fixtures [1,2]. In either case, good performance depends on accurately placing the instrument tip at the specified image coordinates.…”

Section: Introductionmentioning

confidence: 99%

“…For example, a 1N force applied to the tip of a cantilevered instrument for a commercial surgical robot (straight endoscissors for the ZEUS Surgical Robot System, Computer Motion, Inc, Goleta, Calif.; stainless steel shaft 355 mm long, 3.35mm outer diameter, 1.47mm inner diameter) causes a 15mm tip deflection, much larger than the target anatomy in many procedures. Such bending has been shown to limit accuracy in animal studies of image-guided cardiothoracic procedures [2,6]. As surgeons seek to minimize instrument size to reduce damage to healthy tissue and access smaller anatomical structures, this problem will become more pronounced.…”

Section: Introductionmentioning

confidence: 99%

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Model-Based Error Correction for Flexible Robotic Surgical Instruments

Beasley¹,

Howe²

2005

Robotics: Science and Systems I

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Abstract-Robots promise to enhance minimally-invasive surgery, but flexion of the thin instrument shaft introduces error into models of the robot kinematics. Visual or electromagnetic tracking of the instrument tip provides correct forward kinematics, but uncertainty in shaft bending and port location leaves residual errors in inverse kinematics. These errors can cause incorrect motions that preclude the use of image-guidance tools. This paper proposes a model-based controller to correct the commanded motions. Comparison with a controller assuming a straight instrument shaft quantifies motion errors resulting from the use of a straight shaft controller. Analysis of the flexed shaft controller shows sensitivity to shaft length, shaft stiffness, tip force, and sensor noise.

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Section: B Sensitivity Analysis For Jacobianmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Model-Based Error Correction for Flexible Robotic Surgical Instruments

Beasley¹,

Howe²

2005

Robotics: Science and Systems I

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“…The registration of models with the patient's anatomy will introduce errors that decrease the measurement accuracy, especially in the case of deformable soft tissue registration. For instance, fixtures proposed for cardiac surgery can only roughly delineate critical regions of larger scales [5]. In the case of moving fixtures, as used during beating heart surgery (e.g., [6], [7]), motion prediction errors impede an accurate measurement.…”

Section: Introductionmentioning

confidence: 99%

Micro camera augmented endoscopic instruments: Towards superhuman performance in remote surgical cutting

Staub

Lenz

Jensen

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper introduces a new method for remote surgical cutting by providing haptic guidance along a trajectory that is measured in-situ through a miniature, tool-tip mounted endoscopic camera. By directly augmenting the instrument with a camera, instead of relying on an additional conventional endoscope, the approach becomes independent from inherent calibration uncertainties of the telemanipulation system, other than the micro camera itself, and from registration of pre-and intra-operative surgical data. We calculate a smooth cut path with corresponding scalpel orientation to guide the user towards the optimal trajectory. Experiments are conducted with passive and active haptic virtual fixtures. During active fixturing the optimal forward velocity is calculated to follow the path. The results indicate an improvement in terms of position accuracy, blade orientation, and forward velocity.

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“…In such cases, the surgeons' ability can be augmented by techniques such as virtual fixtures (VF). Virtual fixtures, which have been discussed previously in the literature for both telerobotic and cooperative robots [15,16,17,18,19,20], are algorithms which provide anisotropic behavior to surgeons motion command besides filtering out tremor to provide safety and precision.…”

Section: Introductionmentioning

confidence: 99%

Telerobotic Control by Virtual Fixtures for Surgical Applications

Kapoor

Taylor

Springer Tracts in Advanced Robotics

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Summary. We present a new method to generate spatial motion constraints for surgical robots that provide sophisticated ways to assist the surgeon. Surgical robotic assistant systems are human-machine collaborative systems (HMCS) that work interactively with surgeons by augmenting their ability to manipulate surgical instruments in carrying out a variety of surgical tasks. The goal of "virtual fixtures" (VF) is to provide anisotropic motion behavior to the surgeon's motion command and to filter out tremor to enhance precision and stability. Our method uses a weighted, linearized, multi-objective optimization framework to formalize a library of virtual fixtures for task primitives. We set the objective function based on user input that can be obtained through a force sensor, joystick or a master robot. We set the linearized subject function based on five basic geometric constraints. The strength of this approach is that it is extensible to include additional constraints such as collision avoidance, anatomybased constraints and joint limits, by using an instantaneous kinematic relationship between the task variables and robot joints. We illustrate our approach using three surgical tasks: percutaneous needle insertion, femur cutting for prosthetic implant and suturing. For the percutaneous procedures we provide a remote center of motion (RCM) point that provides an isocentric motion that is fundamental to these types of procedures. For femur cutting procedures we provide assistance by maintaining proper tool orientation and position. For the suturing task we address the problem of stitching in endoscopic surgery using a circular needle. We show that with help of VF, suturing can be performed at awkward angles without multiple trials, thus avoiding damage to tissue.

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Virtual Fixtures for Robotic Cardiac Surgery

Cited by 103 publications

References 2 publications

Model-Based Error Correction for Flexible Robotic Surgical Instruments

Model-Based Error Correction for Flexible Robotic Surgical Instruments

Micro camera augmented endoscopic instruments: Towards superhuman performance in remote surgical cutting

Telerobotic Control by Virtual Fixtures for Surgical Applications

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