During robot-aided surgical interventions, the surgeon can be benefitted from the application of virtual fixtures (VFs). Though very effective, this technique is very often not practicable in unstructured surgical environments. In order to comply with the environmental deformation, both the VF geometry and the constraint enforcement parameters need to be online defined/adapted. This letter proposes a strategy for an effective use of VF assistance in minimally invasive robotic surgical tasks. An online VF generation technique based on the interaction force measurements is presented. Pose and geometry adaptations of the VF are considered. Passivity of the overall system is guaranteed by using energy tanks passivity-based control. The proposed method is validated through experiments on the da Vinci Research Kit.

Passive Virtual Fixtures Adaptation in Minimally Invasive Robotic Surgery / Selvaggio, Mario; Fontanelli, Giuseppe Andrea; Ficuciello, Fanny; Villani, Luigi; Siciliano, Bruno. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 3:4(2018), pp. 3129-3136. [10.1109/LRA.2018.2849876]

Passive Virtual Fixtures Adaptation in Minimally Invasive Robotic Surgery

Selvaggio, Mario;Fontanelli, Giuseppe Andrea;Ficuciello, Fanny;Villani, Luigi;Siciliano, Bruno
2018

Abstract

During robot-aided surgical interventions, the surgeon can be benefitted from the application of virtual fixtures (VFs). Though very effective, this technique is very often not practicable in unstructured surgical environments. In order to comply with the environmental deformation, both the VF geometry and the constraint enforcement parameters need to be online defined/adapted. This letter proposes a strategy for an effective use of VF assistance in minimally invasive robotic surgical tasks. An online VF generation technique based on the interaction force measurements is presented. Pose and geometry adaptations of the VF are considered. Passivity of the overall system is guaranteed by using energy tanks passivity-based control. The proposed method is validated through experiments on the da Vinci Research Kit.
2018
Passive Virtual Fixtures Adaptation in Minimally Invasive Robotic Surgery / Selvaggio, Mario; Fontanelli, Giuseppe Andrea; Ficuciello, Fanny; Villani, Luigi; Siciliano, Bruno. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 3:4(2018), pp. 3129-3136. [10.1109/LRA.2018.2849876]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/722634
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