Manipulation of a Whole Surgical Tool Within Safe Regions Utilizing Barrier Artificial Potentials

Abstract

Active constraint enforcement in robotic-assisted surgery is critical for reducing the intra-operative risk of unintentionally damaging sensitive tissues by the surgical instrument. This work considers surgical instruments which can be circumscribed by a geometric capsule and forbidden regions which can be approximated by point clouds in order to produce a repulsive wrench by the control action to guarantee manipulation within safe regions. This work details the control scheme which is based on barrier artificial potentials when considering the whole tool extending our previous results on the tool point. A proof of the control system's passivity and non constraint violation is provided together with experimental results using a 7-dof KUKA LWR4+ manipulator as a master device in a virtual surgical scene in order to demonstrate the effectiveness of the proposed scheme.

Burnout Prevalence in Special Education Teachers, and the Positive Role of ICTs

“…Finalizing, we emphasize the significance of all digital technologies in the field of education and the positive impact on teachers, which is highly effective and productive for assessment, intervention, and educational procedures via mobile devices that bring educational activities to everybody [42][43][44][45][46][47][48][49], various ICTs applications that are the main supporters of education [50][51][52][53][54][55][56][57][58][59][60][61][62][63][64][65], AI, STEM, and ROBOTICS that raise educational procedures to new performance levers [66][67][68][69][70][71][72][73][74][75][76][77], and games which support a very friendly and enjoyable procedure in the education [78][79][80][81][82][83][84]. Additionally, the integration of ICTs with theories and models of metacognition, mindfulness, meditation, and the cultivation of emotional intelligence , as well as with nutrition and environmental factors…”

A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

“…For example, penetrated (bounded) artificial potentials are utilized around trajectories encoded by Dynamic Movement Primitives to allow a user to inspect kinesthetically as well as significantly modify a previously learned path [7,8]. A method enforcing constraints utilizing unbounded functions are presented in [9] and [33] to guarantee that the robot tool tip and the whole tool respectively will never touch a forbidden surface provided by a point cloud. A review about artificial potential fields can be found in [34].…”

“…In this work, we address the problem of satisfying both RCM and forbidden region constraints via a novel admittance control design. A combination of our previous works [14] on RCM constraint and forbidden region constraint satisfaction [9], [33] produces a system that is not passive and consequently it cannot guarantee stability. In fact, we faced various stability problems when we had initially experimented with this control combination.…”

“…(iv) The method to enforce forbidden area constraints for the tool presented in our previous works [9], [33] does not consider RCM constraints and is implemented in the torque level via an impedance controller. In this work, we propose an admittance model which is shaped by the presence of the RCM constraints, so that repulsive forces are filtered.…”

“…with σ ∈ [0, 1]. Then at every control cycle and for each point p i ∈ O s , we find the nearest point p * i = p s (σ * i ,t) on the line segment of the capsule where σ * i can be found analytically as described in our previous paper [33] :…”