Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments.
Identifieur interne : 000677 ( PubMed/Curation ); précédent : 000676; suivant : 000678Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments.
Auteurs : Dongwen Zhang ; Qingsong Zhu ; Jing Xiong ; Lei Wang [République populaire de Chine]Source :
- Biomedical engineering online [ 1475-925X ] ; 2014.
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Abstract
In a deforming anatomic environment, the motion of an instrument suffers from complex geometrical and dynamic constraints, robot assisted minimally invasive surgery therefore requires more sophisticated skills for surgeons. This paper proposes a novel dynamic virtual fixture (DVF) to enhance the surgical operation accuracy of admittance-type medical robotics in the deforming environment.
DOI: 10.1186/1475-925X-13-51
PubMed: 24767578
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments.</title><author><name sortKey="Zhang, Dongwen" sort="Zhang, Dongwen" uniqKey="Zhang D" first="Dongwen" last="Zhang">Dongwen Zhang</name></author><author><name sortKey="Zhu, Qingsong" sort="Zhu, Qingsong" uniqKey="Zhu Q" first="Qingsong" last="Zhu">Qingsong Zhu</name></author><author><name sortKey="Xiong, Jing" sort="Xiong, Jing" uniqKey="Xiong J" first="Jing" last="Xiong">Jing Xiong</name></author><author><name sortKey="Wang, Lei" sort="Wang, Lei" uniqKey="Wang L" first="Lei" last="Wang">Lei Wang</name><affiliation wicri:level="1"><nlm:affiliation>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China. wang.lei@siat.ac.cn.</nlm:affiliation><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2014">2014</date><idno type="doi">10.1186/1475-925X-13-51</idno><idno type="RBID">pubmed:24767578</idno><idno type="pmid">24767578</idno><idno type="wicri:Area/PubMed/Corpus">000677</idno><idno type="wicri:Area/PubMed/Curation">000677</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments.</title><author><name sortKey="Zhang, Dongwen" sort="Zhang, Dongwen" uniqKey="Zhang D" first="Dongwen" last="Zhang">Dongwen Zhang</name></author><author><name sortKey="Zhu, Qingsong" sort="Zhu, Qingsong" uniqKey="Zhu Q" first="Qingsong" last="Zhu">Qingsong Zhu</name></author><author><name sortKey="Xiong, Jing" sort="Xiong, Jing" uniqKey="Xiong J" first="Jing" last="Xiong">Jing Xiong</name></author><author><name sortKey="Wang, Lei" sort="Wang, Lei" uniqKey="Wang L" first="Lei" last="Wang">Lei Wang</name><affiliation wicri:level="1"><nlm:affiliation>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China. wang.lei@siat.ac.cn.</nlm:affiliation><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055</wicri:regionArea></affiliation></author></analytic><series><title level="j">Biomedical engineering online</title><idno type="eISSN">1475-925X</idno><imprint><date when="2014" type="published">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Cooperative Behavior</term><term>Feedback</term><term>Humans</term><term>Minimally Invasive Surgical Procedures</term><term>Motion</term><term>Robotics</term><term>Surgery, Computer-Assisted (methods)</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Cooperative Behavior</term><term>Feedback</term><term>Humans</term><term>Minimally Invasive Surgical Procedures</term><term>Motion</term><term>Robotics</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In a deforming anatomic environment, the motion of an instrument suffers from complex geometrical and dynamic constraints, robot assisted minimally invasive surgery therefore requires more sophisticated skills for surgeons. This paper proposes a novel dynamic virtual fixture (DVF) to enhance the surgical operation accuracy of admittance-type medical robotics in the deforming environment.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">24767578</PMID><DateCreated><Year>2014</Year><Month>06</Month><Day>03</Day></DateCreated><DateCompleted><Year>2014</Year><Month>09</Month><Day>11</Day></DateCompleted><DateRevised><Year>2015</Year><Month>08</Month><Day>06</Day></DateRevised><Article PubModel="Electronic"><Journal><ISSN IssnType="Electronic">1475-925X</ISSN><JournalIssue CitedMedium="Internet"><Volume>13</Volume><PubDate><Year>2014</Year></PubDate></JournalIssue><Title>Biomedical engineering online</Title><ISOAbbreviation>Biomed Eng Online</ISOAbbreviation></Journal><ArticleTitle>Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments.</ArticleTitle><Pagination><MedlinePgn>51</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1186/1475-925X-13-51</ELocationID><Abstract><AbstractText Label="BACKGROUND" NlmCategory="BACKGROUND">In a deforming anatomic environment, the motion of an instrument suffers from complex geometrical and dynamic constraints, robot assisted minimally invasive surgery therefore requires more sophisticated skills for surgeons. This paper proposes a novel dynamic virtual fixture (DVF) to enhance the surgical operation accuracy of admittance-type medical robotics in the deforming environment.</AbstractText><AbstractText Label="METHODS" NlmCategory="METHODS">A framework for DVF on the Euclidean Group SE(3) is presented, which unites rotation and translation in a compact form. First, we constructed the holonomic/non-holonomic constraints, and then searched for the corresponded reference to make a distinction between preferred and non-preferred directions. Second, different control strategies are employed to deal with the tasks along the distinguished directions. The desired spatial compliance matrix is synthesized from an allowable motion screw set to filter out the task unrelated components from manual input, the operator has complete control over the preferred directions; while the relative motion between the surgical instrument and the anatomy structures is actively tracked and cancelled, the deviation relative to the reference is compensated jointly by the operator and DVF controllers. The operator, haptic device, admittance-type proxy and virtual deforming environment are involved in a hardware-in-the-loop experiment, human-robot cooperation with the assistance of DVF controller is carried out on a deforming sphere to simulate beating heart surgery, performance of the proposed DVF on admittance-type proxy is evaluated, and both human factors and control parameters are analyzed.</AbstractText><AbstractText Label="RESULTS" NlmCategory="RESULTS">The DVF can improve the dynamic properties of human-robot cooperation in a low-frequency (0 ~ 40 rad/sec) deforming environment, and maintain synergy of orientation and translation during the operation. Statistical analysis reveals that the operator has intuitive control over the preferred directions, human and the DVF controller jointly control the motion along the non-preferred directions, the target deformation is tracked actively.</AbstractText><AbstractText Label="CONCLUSIONS" NlmCategory="CONCLUSIONS">The proposed DVF for an admittance-type manipulator is capable of assisting the operator to deal with skilled operations in a deforming environment.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Zhang</LastName><ForeName>Dongwen</ForeName><Initials>D</Initials></Author><Author ValidYN="Y"><LastName>Zhu</LastName><ForeName>Qingsong</ForeName><Initials>Q</Initials></Author><Author ValidYN="Y"><LastName>Xiong</LastName><ForeName>Jing</ForeName><Initials>J</Initials></Author><Author ValidYN="Y"><LastName>Wang</LastName><ForeName>Lei</ForeName><Initials>L</Initials><AffiliationInfo><Affiliation>Shenzhen Key Laboratory for Lowcost Healthcare, Key Lab for Health Informatics, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Xueyuan Avenue 1068, Shenzhen 518055, China. wang.lei@siat.ac.cn.</Affiliation></AffiliationInfo></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2014</Year><Month>04</Month><Day>27</Day></ArticleDate></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>Biomed Eng Online</MedlineTA><NlmUniqueID>101147518</NlmUniqueID><ISSNLinking>1475-925X</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><CommentsCorrectionsList><CommentsCorrections RefType="Cites"><RefSource>Conf Proc IEEE Eng Med Biol Soc. 2012;2012:1506-9</RefSource><PMID Version="1">23366188</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>IEEE Trans Med Imaging. 2008 Aug;27(8):1061-70</RefSource><PMID Version="1">18672424</PMID></CommentsCorrections></CommentsCorrectionsList><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D003299">Cooperative Behavior</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D005246">Feedback</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019060">Minimally Invasive Surgical Procedures</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D009038">Motion</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading></MeshHeadingList><OtherID Source="NLM">PMC4041146</OtherID></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2013</Year><Month>12</Month><Day>3</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2014</Year><Month>3</Month><Day>24</Day></PubMedPubDate><PubMedPubDate PubStatus="aheadofprint"><Year>2014</Year><Month>4</Month><Day>27</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2014</Year><Month>4</Month><Day>29</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2014</Year><Month>4</Month><Day>29</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2014</Year><Month>9</Month><Day>12</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>epublish</PublicationStatus><ArticleIdList><ArticleId IdType="pii">1475-925X-13-51</ArticleId><ArticleId IdType="doi">10.1186/1475-925X-13-51</ArticleId><ArticleId IdType="pubmed">24767578</ArticleId><ArticleId IdType="pmc">PMC4041146</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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