TY - GEN
T1 - Anatomical mesh-based virtual fixtures for surgical robots
AU - Li, Zhaoshuo
AU - Gordon, Alex
AU - Looi, Thomas
AU - Drake, James
AU - Forrest, Christopher
AU - Taylor, Russell H.
N1 - Funding Information:
*This work was supported in part by a research contract from Galen Robotics, in part by Johns Hopkins University internal funds and in part by Division of Plastic Surgery and Neurosurgery at Hospital for Sick Children. Disclosures: Russel H. Taylor is a paid consultant to Galen Robotics and has an equity interest in that company. These arrangements have been reviewed and approved by JHU in accordance with its conflict of interest policy.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots without any assumption of the local anatomical shape close to the tool. Using a bounded search strategy and Principle Directed tree, the proposed system can run efficiently at 180 Hz for a mesh object containing 989, 376 triangles and 493, 460 vertices. The proposed algorithm has been validated in both simulation and skull cutting experiments. The skull cutting experiment setup uses a novel piezoelectric bone cutting tool designed for the da Vinci research kit. The result shows that the virtual fixture assisted teleoperation has statistically significant improvements in the cutting path accuracy and penetration depth control. The code has been made publicly available at https://github.com/mli0603/PolygonMeshVirtualFixture.
AB - This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots without any assumption of the local anatomical shape close to the tool. Using a bounded search strategy and Principle Directed tree, the proposed system can run efficiently at 180 Hz for a mesh object containing 989, 376 triangles and 493, 460 vertices. The proposed algorithm has been validated in both simulation and skull cutting experiments. The skull cutting experiment setup uses a novel piezoelectric bone cutting tool designed for the da Vinci research kit. The result shows that the virtual fixture assisted teleoperation has statistically significant improvements in the cutting path accuracy and penetration depth control. The code has been made publicly available at https://github.com/mli0603/PolygonMeshVirtualFixture.
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U2 - 10.1109/IROS45743.2020.9341590
DO - 10.1109/IROS45743.2020.9341590
M3 - Conference contribution
AN - SCOPUS:85102409360
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3267
EP - 3273
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -