Paper Info
Title
Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery.
Abstract
Traditional nasal surgery requires the doctor's left hand to carry the endoscope and right hand to complete the surgical operation using unstable images, potentially leading to danger due to mental fatigue, which may greatly prolong the operation time. Previously, robots in robot assisted endoscope sinus surgery (RAESS) only used simple linear motion control, lacked a dynamic tracking mechanism, and had no effective safety protection constraints, such as virtual fixtures or real-time force sensors. This paper describes an innovative and secure robotic control strategy for a dynamic automatic tracking endoscope with doctor input based on the mixed constraint of a dual-layer hyperboloid virtual fixture generated by a series of key points around the nasal cavity and a model of the threshold contact force. A tracking control strategy is set up after calibrating the navigation system and motion filtering via a human-machine interaction. Several experiments show that the hyperboloid virtual fixtures can generate an efficient constraint of different robotic motions and that the robot can automatically execute a track mission with high precision. The proposed safety protection method can be easily applied to patients with different nose shapes and greatly improve the quality of surgery.
Year
DOI
Venue
2018
10.1109/ACCESS.2018.2861572
IEEE ACCESS
Keywords
Field
DocType
Robot assisted nasal surgery,virtual fixtures,automatic tracking control,security control strategy
Computer vision,Linear motion,Motion control,Virtual fixture,Computer science,Navigation system,Filter (signal processing),Contact force,Artificial intelligence,Robot,Hyperboloid,Distributed computing
Journal
Volume
ISSN
Citations 
6
2169-3536
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Qingwen Zheng100.34
He Yucheng235.82
Qi Xiaozhi335.48
Peng Zhang496.70
Ying Hu53822.62
Bing Li601.01