Collision detection and untangling for surgical robotic manipulators

Background Robotic‐assisted minimally invasive surgery provides several advantages over traditional surgery; however, it also has several drawbacks, such as possible collisions between the robotic arms and a limited field of view. Methods A generic method for tracking the configuration of a surgical...

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Bibliographic Details
Published in:The international journal of medical robotics + computer assisted surgery 2009-09, Vol.5 (3), p.233-242
Main Authors: Morvan, Tangui, Martinsen, Magnar, Reimers, Martin, Samset, Eigil, Elle, Ole Jakob
Format: Article
Language:English
Subjects:
Algorithms
collision detection
Collision dynamics
collision untangling
Computer simulation
Computer-Aided Design
Dynamics
Equipment Design
Equipment Failure Analysis
Feedback
inverse kinematics
Manipulators
Real time
Reproducibility of Results
Robotics
Robotics - instrumentation
Robotics - methods
Sensitivity and Specificity
Surgery
Surgery, Computer-Assisted - instrumentation
Surgery, Computer-Assisted - methods
surgical robotics
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Summary:Background Robotic‐assisted minimally invasive surgery provides several advantages over traditional surgery; however, it also has several drawbacks, such as possible collisions between the robotic arms and a limited field of view. Methods A generic method for tracking the configuration of a surgical manipulator in real time is presented. It is coupled with a collision detection and dynamic simulation algorithm, allowing the operator to detect collisions between robotic arms before they happen and presenting the best possible untangling direction to get out of collisions. Results Our algorithm successfully tracks the configuration of the Zeus® surgical system and accurately detects possible collisions in real time. A pilot study on our system proved its efficiency in reducing the duration and severity of collisions, at the price of longer completion times. Conclusion Our system helps alleviate the collision problem by reducing the time in collision. Copyright © 2009 John Wiley & Sons, Ltd.
ISSN:1478-5951
1478-596X
DOI:10.1002/rcs.247