论文标题
基于解剖网状的手术机器人的虚拟固定装置
Anatomical Mesh-Based Virtual Fixtures for Surgical Robots
论文作者
论文摘要
本文提出了动态约束公式，以提供来自多边形网格表示的3D解剖结构的保护性虚拟固定装置。所提出的方法可以在不限制手术机器人的刀具运动上，而无需任何接近工具的局部解剖形状。使用有界的搜索策略和原理导向树，对于包含989,376个三角形和493,460个顶点的网格对象，提出的系统可以在180 Hz处有效运行。所提出的算法在模拟和颅骨切割实验中均已验证。头骨切割实验设置使用了为Da Vinci Research套件设计的新型压电骨切割工具。结果表明，虚拟灯具的辅助远距离在切割路径的准确性和穿透深度控制方面具有统计学上的显着改善。该代码已在https://github.com/mli0603/polygonmeshvirtualfixture上公开提供。
This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots without any assumption of the local anatomical shape close to the tool. Using a bounded search strategy and Principle Directed tree, the proposed system can run efficiently at 180 Hz for a mesh object containing 989,376 triangles and 493,460 vertices. The proposed algorithm has been validated in both simulation and skull cutting experiments. The skull cutting experiment setup uses a novel piezoelectric bone cutting tool designed for the da Vinci research kit. The result shows that the virtual fixture assisted teleoperation has statistically significant improvements in the cutting path accuracy and penetration depth control. The code has been made publicly available at https://github.com/mli0603/PolygonMeshVirtualFixture.
