Dynamic Virtual Fixture Generation Based on Intra-Operative 3D Image Feedback in Robot-Assisted Minimally Invasive Thoracic Surgery

This paper proposes a method for generating dynamic virtual fixtures with real-time 3D image feedback to facilitate human-robot collaboration in medical robotics. Seamless shared control in a dynamic environment, like that of a surgical field, remains challenging despite extensive research on collab...

Full description

Saved in:
Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2024-01, Vol.24 (2), p.492
Main Authors: Shi, Yunze, Zhu, Peizhang, Wang, Tengyue, Mai, Haonan, Yeh, Xiyang, Yang, Liangjing, Wang, Jingfan
Format: Article
Language:English
Subjects:
3D image-guided robots
Algorithms
Automation
Cameras
Collaboration
Design specifications
Feedback
Fixtures
Humans
human–robot collaboration
Industrial design
Laparoscopy
Methods
Minimally Invasive Surgical Procedures
Phantoms, Imaging
Planning
Robotics
Robotics industry
Robots
Surgeons
Surgery
Surgical apparatus & instruments
Thoracic Surgery
Three dimensional imaging
virtual fixtures
virtual force field
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper proposes a method for generating dynamic virtual fixtures with real-time 3D image feedback to facilitate human-robot collaboration in medical robotics. Seamless shared control in a dynamic environment, like that of a surgical field, remains challenging despite extensive research on collaborative control and planning. To address this problem, our method dynamically creates virtual fixtures to guide the manipulation of a trocar-placing robot arm using the force field generated by point cloud data from an RGB-D camera. Additionally, the "view scope" concept selectively determines the region for computational points, thereby reducing computational load. In a phantom experiment for robot-assisted port incision in minimally invasive thoracic surgery, our method demonstrates substantially improved accuracy for port placement, reducing error and completion time by 50% (p=1.06×10-2) and 35% (p=3.23×10-2), respectively. These results suggest that our proposed approach is promising in improving surgical human-robot collaboration.
ISSN:1424-8220
1424-8220
DOI:10.3390/s24020492