2020年4月
Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery
IEEE Robotics and Automation Letters
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- 巻
- 5
- 号
- 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
- ID情報
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- DOI : 10.1109/LRA.2019.2963642
- eISSN : 2377-3766
- SCOPUS ID : 85078266612