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Anatomical Mesh-Based Virtual Fixtures for Surgical Robots

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Document pages: 7 pages

Abstract: This paper presents a dynamic constraint formulation to provide protectivevirtual fixtures of 3D anatomical structures from polygon mesh representations.The proposed approach can anisotropically limit the tool motion of surgicalrobots without any assumption of the local anatomical shape close to the tool.Using a bounded search strategy and Principle Directed tree, the proposedsystem can run efficiently at 180 Hz for a mesh object containing 989,376triangles and 493,460 vertices. The proposed algorithm has been validated inboth simulation and skull cutting experiments. The skull cutting experimentsetup uses a novel piezoelectric bone cutting tool designed for the da Vinciresearch kit. The result shows that the virtual fixture assisted teleoperationhas statistically significant improvements in the cutting path accuracy andpenetration depth control. The code has been made publicly available atthis https URL.

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