論文

査読有り 最終著者
2020年4月

Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery

IEEE Robotics and Automation Letters
  • Murilo M. Marinho
  • ,
  • Hisashi Ishida
  • ,
  • Kanako Harada
  • ,
  • Kyoichi Deie
  • ,
  • Mamoru Mitsuishi

5
2
開始ページ
524
終了ページ
531
記述言語
掲載種別
研究論文(学術雑誌)
DOI
10.1109/LRA.2019.2963642

The limited workspace in pediatric endoscopic surgery makes surgical suturing one of the most difficult tasks. During suturing, surgeons have to prevent collisions between instruments and also collisions with the surrounding tissues. Surgical robots have been shown to be effective in adult laparoscopy, but assistance for suturing in constrained workspaces has not been yet fully explored. In this letter, we propose guidance virtual fixtures to enhance the performance and the safety of suturing while generating the required task constraints using constrained optimization and Cartesian force feedback. We propose two guidance methods: looping virtual fixtures and a trajectory guidance cylinder, that are based on dynamic geometric elements. In simulations and experiments with a physical robot, we show that the proposed methods increase precision and safety in-vitro.

リンク情報
DOI
https://doi.org/10.1109/LRA.2019.2963642
Scopus
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85078266612&origin=inward
Scopus Citedby
https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85078266612&origin=inward
ID情報
  • DOI : 10.1109/LRA.2019.2963642
  • eISSN : 2377-3766
  • SCOPUS ID : 85078266612

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