Spatial Motion Constraints and Control Strategy for Robot-assisted Celiac Interventional Therapy
XIONG Jing1, CHEN Ken1,2, XIA Zeyang1
1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China; 2. The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Abstract：This paper describes the surgical planning model and the virtual fixture(VF) approach to the robot-assisted celiac interventional therapy.We introduce the spatial motion constraint generation method for two categories of VFs,i.e.guidance VF and forbidden-region VF,as well as an integrated admittance control strategy.The controlled object is guided by the attractive potential field and reference direction,and avoids the obstacles,i.e.,ribs and intraperitoneal vessels,by the repulsive potential field,in order to assist the motion and localization of the interventional instrument.The stiffness of a virtual fixture can be used to adjust the degree of rigorousness of the spatial motion constraint.Simulations of a single VF and multiple VFs in the celiac 3-D environment are executed to verify the effectiveness of spatial motion constraints and control algorithms.The proposed approach is applicable to some similar teleoperation and human-machine collaboration systems.
[1] Kazanzides P,Fichtinger G,Hager G D,et al.Surgical and interventional robotics-Core concepts,technology,and design[J].IEEE Robotics and Automation Magazine,2008,15(2):122-130.
[2] Xu J,Chen K,Yang X D,et al.Adaptive level set method for segmentation of liver tumors in minimally invasive surgery using ultrasound images[C]//IEEE International Conference on Bioinformatics and Biomedical Engineering.Piscataway,NJ,USA:IEEE,2007:1091-1094.
[3] Rosenberg L B.Virtual fixtures:Perceptual tools for telerobotic manipulation[C]//IEEE Virtual Reality International Symposium.Piscataway,NJ,USA:IEEE,1993:76-82.
[4] Abbott J J,Okamura A M.Virtual fixture architectures for telemanipulation[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2003:2798-2805.
[5] Bettini A,Marayong P,Lang S,et al.Vision-assisted control for manipulation using virtual fixtures[J].IEEE Transactions on Robotics,2004,20(6):953-966.
[6] Kikuuwe R,Takesue N,Fujimoto H.A control framework to generate nonenergy-storing virtual fixtures:Use of simulated plasticity[J].IEEE Transactions on Robotics,2008,24(4):781-793.
[7] Park S,Howe R D,Torchiana D E Virtual fixtures for robotic cardiac surgery[M]//Lecture Notes in Computer Science,vol.2208.London,UK:Springer-Verlag,2001:1419-1420.
[8] Li M,Ishii M,Taylor R H.Spatial motion constraints using virtual fixtures generated by anatomy[J].IEEE Transactions on Robotics,2007,23(1):4-19.
[9] Ren J,Patel R V,Mclsaac K A,et al.Dynamic 3-D virtual fixtures for minimally invasive beating heart procedures[J].IEEE Transactions on Medical Imaging,2008,27(8):1061-1070.
[10] Payandeh S,Stanisic Z.On application of virtual fixtures as an aid for telemanipulation and training[C]//10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Orlando,USA:IEEE,2002:18-23.
[11] Abbott J J,Okamura A M.Pseudo-admittance bilateral telemanipulation with guidance virtual fixtures[J].International Journal of Robotics Research,2007,26(8):865-884.
[12] Seraji H.Adaptive admittance control:An approach to explicit force control in compliant motion[C]//IEEE International Conference on Robotics and Automation.Piscataway,N J,USA:IEEE,1994:2705-2710.
