Dynamic Active Constraints for Surgical Robots Using Vector-Field InequalitiesCitation formats

Standard

Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities. / Marinho, Murilo Marques; Adorno, Bruno Vilhena; Harada, Kanako; Mitsuishi, Mamoru.

In: IEEE Transactions on Robotics, Vol. 35, No. 5, 20.06.2019, p. 1166-1185.

Research output: Contribution to journalArticlepeer-review

Harvard

Marinho, MM, Adorno, BV, Harada, K & Mitsuishi, M 2019, 'Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities', IEEE Transactions on Robotics, vol. 35, no. 5, pp. 1166-1185. https://doi.org/10.1109/TRO.2019.2920078

APA

Marinho, M. M., Adorno, B. V., Harada, K., & Mitsuishi, M. (2019). Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities. IEEE Transactions on Robotics, 35(5), 1166-1185. https://doi.org/10.1109/TRO.2019.2920078

Vancouver

Marinho MM, Adorno BV, Harada K, Mitsuishi M. Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities. IEEE Transactions on Robotics. 2019 Jun 20;35(5):1166-1185. https://doi.org/10.1109/TRO.2019.2920078

Author

Marinho, Murilo Marques ; Adorno, Bruno Vilhena ; Harada, Kanako ; Mitsuishi, Mamoru. / Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities. In: IEEE Transactions on Robotics. 2019 ; Vol. 35, No. 5. pp. 1166-1185.

Bibtex

@article{6dbd0e5c316141a58c53fc7ecd5d4ad5,
title = "Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities",
abstract = "Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still under-represented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these procedures, surgeons have restricted vision to areas near the surgical tooltips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings. In this paper, our vector-field-inequalities method is extended to provide dynamic active-constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated with experiments and simulations in which robot tools have to avoid collisions autonomously and in real-time, in a constrained endonasal surgical environment. Simulations show that with our method the combined trajectory error of two robotic systems is optimal. Experiments using a real robotic system show that the method can autonomously prevent collisions between the moving robots themselves and between the robots and the environment. Moreover, the framework is also successfully verified under teleoperation with tool-tissue interactions.",
author = "Marinho, {Murilo Marques} and Adorno, {Bruno Vilhena} and Kanako Harada and Mamoru Mitsuishi",
year = "2019",
month = jun,
day = "20",
doi = "10.1109/TRO.2019.2920078",
language = "English",
volume = "35",
pages = "1166--1185",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "IEEE",
number = "5",

}

RIS

TY - JOUR

T1 - Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities

AU - Marinho, Murilo Marques

AU - Adorno, Bruno Vilhena

AU - Harada, Kanako

AU - Mitsuishi, Mamoru

PY - 2019/6/20

Y1 - 2019/6/20

N2 - Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still under-represented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these procedures, surgeons have restricted vision to areas near the surgical tooltips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings. In this paper, our vector-field-inequalities method is extended to provide dynamic active-constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated with experiments and simulations in which robot tools have to avoid collisions autonomously and in real-time, in a constrained endonasal surgical environment. Simulations show that with our method the combined trajectory error of two robotic systems is optimal. Experiments using a real robotic system show that the method can autonomously prevent collisions between the moving robots themselves and between the robots and the environment. Moreover, the framework is also successfully verified under teleoperation with tool-tissue interactions.

AB - Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still under-represented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these procedures, surgeons have restricted vision to areas near the surgical tooltips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings. In this paper, our vector-field-inequalities method is extended to provide dynamic active-constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated with experiments and simulations in which robot tools have to avoid collisions autonomously and in real-time, in a constrained endonasal surgical environment. Simulations show that with our method the combined trajectory error of two robotic systems is optimal. Experiments using a real robotic system show that the method can autonomously prevent collisions between the moving robots themselves and between the robots and the environment. Moreover, the framework is also successfully verified under teleoperation with tool-tissue interactions.

U2 - 10.1109/TRO.2019.2920078

DO - 10.1109/TRO.2019.2920078

M3 - Article

VL - 35

SP - 1166

EP - 1185

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

SN - 1552-3098

IS - 5

ER -