Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery

	Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery
	QINGWEN ZHENG; YUCHENG HE; XIAOZHI QI; PENG ZHANG; YING HU; BING LI
刊名	IEEE ACCESS
	2018
文献子类	期刊论文
英文摘要	Traditional nasal surgery requires the doctor’s left hand to carry the endoscope and right hand to complete the surgical operation using unstable images, potentially leading to danger due to mental fatigue, which may greatly prolong the operation time. Previously, robots in robot assisted endoscope sinus surgery (RAESS) only used simple linear motion control, lacked a dynamic tracking mechanism, and had no effective safety protection constraints, such as virtual fixtures or real-time force sensors. This paper describes an innovative and secure robotic control strategy for a dynamic automatic tracking endoscope with doctor input based on the mixed constraint of a dual-layer hyperboloid virtual fixture generated by a series of key points around the nasal cavity and a model of the threshold contact force. A tracking control strategy is set up after calibrating the navigation system and motion filtering via a human-machine interaction. Several experiments show that the hyperboloid virtual fixtures can generate an efficient constraint of different robotic motions and that the robot can automatically execute a track mission with high precision. The proposed safety protection method can be easily applied to patients with different nose shapes and greatly improve the quality of surgery.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/13535]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	QINGWEN ZHENG,YUCHENG HE,XIAOZHI QI,et al. Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery[J]. IEEE ACCESS,2018.
APA	QINGWEN ZHENG,YUCHENG HE,XIAOZHI QI,PENG ZHANG,YING HU,&BING LI.(2018).Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery.IEEE ACCESS.
MLA	QINGWEN ZHENG,et al."Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery".IEEE ACCESS (2018).