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Shi Y, Zhu P, Wang T, Mai H, Yeh X, Yang L, Wang J. Dynamic Virtual Fixture Generation Based on Intra-Operative 3D Image Feedback in Robot-Assisted Minimally Invasive Thoracic Surgery. SENSORS (BASEL, SWITZERLAND) 2024; 24:492. [PMID: 38257585 PMCID: PMC10820968 DOI: 10.3390/s24020492] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/12/2023] [Revised: 01/09/2024] [Accepted: 01/10/2024] [Indexed: 01/24/2024]
Abstract
This paper proposes a method for generating dynamic virtual fixtures with real-time 3D image feedback to facilitate human-robot collaboration in medical robotics. Seamless shared control in a dynamic environment, like that of a surgical field, remains challenging despite extensive research on collaborative control and planning. To address this problem, our method dynamically creates virtual fixtures to guide the manipulation of a trocar-placing robot arm using the force field generated by point cloud data from an RGB-D camera. Additionally, the "view scope" concept selectively determines the region for computational points, thereby reducing computational load. In a phantom experiment for robot-assisted port incision in minimally invasive thoracic surgery, our method demonstrates substantially improved accuracy for port placement, reducing error and completion time by 50% (p=1.06×10-2) and 35% (p=3.23×10-2), respectively. These results suggest that our proposed approach is promising in improving surgical human-robot collaboration.
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Affiliation(s)
- Yunze Shi
- ZJU-UIUC Institute, International Campus, Zhejiang University, Haining 314400, China; (Y.S.); (T.W.); (H.M.)
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Peizhang Zhu
- Flexiv Ltd., Santa Clara, CA 95054, USA; (P.Z.); (X.Y.)
| | - Tengyue Wang
- ZJU-UIUC Institute, International Campus, Zhejiang University, Haining 314400, China; (Y.S.); (T.W.); (H.M.)
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
| | - Haonan Mai
- ZJU-UIUC Institute, International Campus, Zhejiang University, Haining 314400, China; (Y.S.); (T.W.); (H.M.)
| | - Xiyang Yeh
- Flexiv Ltd., Santa Clara, CA 95054, USA; (P.Z.); (X.Y.)
| | - Liangjing Yang
- ZJU-UIUC Institute, International Campus, Zhejiang University, Haining 314400, China; (Y.S.); (T.W.); (H.M.)
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
- Department of Mechanical Engineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Jingfan Wang
- Flexiv Ltd., Santa Clara, CA 95054, USA; (P.Z.); (X.Y.)
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