Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments
Identifieur interne : 001272 ( Main/Exploration ); précédent : 001271; suivant : 001273Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments
Auteurs : Dongwen Zhang [République populaire de Chine] ; Qingsong Zhu [République populaire de Chine] ; Jing Xiong [République populaire de Chine] ; Lei Wang [République populaire de Chine]Source :
- BioMedical Engineering OnLine [ 1475-925X ] ; 2014.
English descriptors
- KwdEn :
- MESH :
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.
A framework for DVF on the Euclidean Group
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.
The proposed DVF for an admittance-type manipulator is capable of assisting the operator to deal with skilled operations in a deforming environment.
Url:
DOI: 10.1186/1475-925X-13-51
PubMed: 24767578
PubMed Central: 4041146
Affiliations:
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<front><div type="abstract" xml:lang="en"><sec><title>Background</title>
<p>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.</p>
</sec>
<sec><title>Methods</title>
<p>A framework for DVF on the Euclidean Group <italic>SE</italic>
(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.</p>
</sec>
<sec><title>Results</title>
<p>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.</p>
</sec>
<sec><title>Conclusions</title>
<p>The proposed DVF for an admittance-type manipulator is capable of assisting the operator to deal with skilled operations in a deforming environment.</p>
</sec>
</div>
</front>
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<name sortKey="Wang, Lei" sort="Wang, Lei" uniqKey="Wang L" first="Lei" last="Wang">Lei Wang</name>
<name sortKey="Xiong, Jing" sort="Xiong, Jing" uniqKey="Xiong J" first="Jing" last="Xiong">Jing Xiong</name>
<name sortKey="Zhang, Dongwen" sort="Zhang, Dongwen" uniqKey="Zhang D" first="Dongwen" last="Zhang">Dongwen Zhang</name>
<name sortKey="Zhu, Qingsong" sort="Zhu, Qingsong" uniqKey="Zhu Q" first="Qingsong" last="Zhu">Qingsong Zhu</name>
</country>
</tree>
</affiliations>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001272 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 001272 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Main |étape= Exploration |type= RBID |clé= PMC:4041146 |texte= Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Exploration/RBID.i -Sk "pubmed:24767578" \ | HfdSelect -Kh $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
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