Proof of Concept Implementation of Forbidden Region Dynamic Active Constraints in Minimally Invasive Surgery

EasyChair Preprint 10345

Abstract

Active Constraints (AC), also named as Virtual Fixtures (VF), are a strategy to provide anisotropic haptic guidance for surgeons during use so that motions that comply with safety requirements are permitted, while those that breach safety requirements are negated. AC can be helpful also in a teleoperative surgical scenario, in which surgeons operating on the surgeon-side interface are separated from the patient-side, where surgical instruments are held and manipulatd by a robot. One challenging aspect of incorporating AC into a modern clinical setting is how to efficiently update pre-constructed AC geometries in real time to account for dynamic tissue movement. In this study, we designed a pipeline for implementing Forbidden Region AC (FRAC), where tissue movement is constantly captured by a depth-sensing camera. The effectiveness of the pipeline has been confirmed through in vitro trajectory tracking experiments along a deforming aorta phantom. Our experimental results demonstrate the capability of our method to provide timely corrective guidance when a violation of the safety region is detected.

Keyphrases: Active Constraints, Depth Sensing, Teleoperation, dVRK, dynamic, minimally invasive surgery, nonrigid registration, virtual fixtures

@booklet{EasyChair:10345,
  author    = {Zejian Cui and Ferdinando Rodriguez Y Baena},
  title     = {Proof of Concept Implementation of Forbidden Region Dynamic Active Constraints in Minimally Invasive Surgery},
  howpublished = {EasyChair Preprint 10345},
  year      = {EasyChair, 2023}}