Vision-based Virtual Fixtures Generation for Robotic-Assisted Polyp Dissection Procedures

A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

“…The above equation is equivalent to (29) in the proof for the tool-tip case, thus the proof of the two last statements follows the same line.…”

“…Active constraints or virtual fixtures were firstly introduced in tele-robotic manipulation by Rosenberg providing force feedback from virtual environments to reduce the cognitive load of the user [27,28] and have been utilized for both hands-on and teleportation applications in surgical [4-6, 9, 12, 29, 30] industrial [2,7,8,31,32] or even in underwater robotic tasks [11]. They can be classified as either virtual fixtures for enforcing barriers around forbidden regions [1,[9][10][11][12]30] or virtual fixtures for assisting guidance achieving an attractive behavior towards a desired path [2,[4][5][6][7][8]29]. Notice that an attractive virtual fixture in a region can be assumed as a forbidden-region virtual fixture for its complementary space and vice versa.…”

Autonomy in Surgical Robotics

“…The most common approach is based on mechatronics [58], but pneumatic [59] and hydraulic [60] systems have also been proposed. Haptic feedback can be used for tissue palpation, thus identifying buried tissue structures or stiffer regions, to develop assisted guidance of surgical tools in a confined space [61], or to prevent instrument collision [62]. So far, the consensus from the surgical community has been that high definition 3D vision, combined with the high dexterity and precision of robotic tools, were sufficient to cope with the lack of haptic feedback [63].…”

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

“…The researchers also explored how such systems can link to automation [118], [212], [213], [224], [228]. The use of virtual fixtures, previously mentioned in the "Training, Skill Assessment, and Gesture Recognition" section as an intraoperative guidance tool, were investigated in [26]- [28], [77], [84], [167], [168], [205], [208], and [209] by providing constraints on the instruments' workspace. The use of force information within augmented reality to provide the surgeons with visual feedback about forces (the socalled pseudohaptics) was also explored [29], [30], [32], [105], [227], [254].…”