Collision detection and untangling for surgical robotic manipulators
Background Robotic‐assisted minimally invasive surgery provides several advantages over traditional surgery; however, it also has several drawbacks, such as possible collisions between the robotic arms and a limited field of view. Methods A generic method for tracking the configuration of a surgical...
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| Veröffentlicht in: | The international journal of medical robotics + computer assisted surgery 2009-09, Vol.5 (3), p.233-242 |
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| container_title | The international journal of medical robotics + computer assisted surgery |
| container_volume | 5 |
| creator | Morvan, Tangui Martinsen, Magnar Reimers, Martin Samset, Eigil Elle, Ole Jakob |
| description | Background
Robotic‐assisted minimally invasive surgery provides several advantages over traditional surgery; however, it also has several drawbacks, such as possible collisions between the robotic arms and a limited field of view.
Methods
A generic method for tracking the configuration of a surgical manipulator in real time is presented. It is coupled with a collision detection and dynamic simulation algorithm, allowing the operator to detect collisions between robotic arms before they happen and presenting the best possible untangling direction to get out of collisions.
Results
Our algorithm successfully tracks the configuration of the Zeus® surgical system and accurately detects possible collisions in real time. A pilot study on our system proved its efficiency in reducing the duration and severity of collisions, at the price of longer completion times.
Conclusion
Our system helps alleviate the collision problem by reducing the time in collision. Copyright © 2009 John Wiley & Sons, Ltd. |
| doi_str_mv | 10.1002/rcs.247 |
| format | Article |
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Robotic‐assisted minimally invasive surgery provides several advantages over traditional surgery; however, it also has several drawbacks, such as possible collisions between the robotic arms and a limited field of view.
Methods
A generic method for tracking the configuration of a surgical manipulator in real time is presented. It is coupled with a collision detection and dynamic simulation algorithm, allowing the operator to detect collisions between robotic arms before they happen and presenting the best possible untangling direction to get out of collisions.
Results
Our algorithm successfully tracks the configuration of the Zeus® surgical system and accurately detects possible collisions in real time. A pilot study on our system proved its efficiency in reducing the duration and severity of collisions, at the price of longer completion times.
Conclusion
Our system helps alleviate the collision problem by reducing the time in collision. Copyright © 2009 John Wiley & Sons, Ltd.</description><identifier>ISSN: 1478-5951</identifier><identifier>EISSN: 1478-596X</identifier><identifier>DOI: 10.1002/rcs.247</identifier><identifier>PMID: 19367614</identifier><language>eng</language><publisher>Chichester, UK: John Wiley & Sons, Ltd</publisher><subject>Algorithms ; collision detection ; Collision dynamics ; collision untangling ; Computer simulation ; Computer-Aided Design ; Dynamics ; Equipment Design ; Equipment Failure Analysis ; Feedback ; inverse kinematics ; Manipulators ; Real time ; Reproducibility of Results ; Robotics ; Robotics - instrumentation ; Robotics - methods ; Sensitivity and Specificity ; Surgery ; Surgery, Computer-Assisted - instrumentation ; Surgery, Computer-Assisted - methods ; surgical robotics</subject><ispartof>The international journal of medical robotics + computer assisted surgery, 2009-09, Vol.5 (3), p.233-242</ispartof><rights>Copyright © 2009 John Wiley & Sons, Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3857-7b2543ac7c712ea8b7d43ebcb81e5625c434b01f2eca2c7c51fce5fe41b0ec8e3</citedby><cites>FETCH-LOGICAL-c3857-7b2543ac7c712ea8b7d43ebcb81e5625c434b01f2eca2c7c51fce5fe41b0ec8e3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frcs.247$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frcs.247$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,780,784,1417,27924,27925,45574,45575</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/19367614$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Morvan, Tangui</creatorcontrib><creatorcontrib>Martinsen, Magnar</creatorcontrib><creatorcontrib>Reimers, Martin</creatorcontrib><creatorcontrib>Samset, Eigil</creatorcontrib><creatorcontrib>Elle, Ole Jakob</creatorcontrib><title>Collision detection and untangling for surgical robotic manipulators</title><title>The international journal of medical robotics + computer assisted surgery</title><addtitle>Int. J. Med. Robotics Comput. Assist. Surg</addtitle><description>Background
Robotic‐assisted minimally invasive surgery provides several advantages over traditional surgery; however, it also has several drawbacks, such as possible collisions between the robotic arms and a limited field of view.
Methods
A generic method for tracking the configuration of a surgical manipulator in real time is presented. It is coupled with a collision detection and dynamic simulation algorithm, allowing the operator to detect collisions between robotic arms before they happen and presenting the best possible untangling direction to get out of collisions.
Results
Our algorithm successfully tracks the configuration of the Zeus® surgical system and accurately detects possible collisions in real time. A pilot study on our system proved its efficiency in reducing the duration and severity of collisions, at the price of longer completion times.
Conclusion
Our system helps alleviate the collision problem by reducing the time in collision. Copyright © 2009 John Wiley & Sons, Ltd.</description><subject>Algorithms</subject><subject>collision detection</subject><subject>Collision dynamics</subject><subject>collision untangling</subject><subject>Computer simulation</subject><subject>Computer-Aided Design</subject><subject>Dynamics</subject><subject>Equipment Design</subject><subject>Equipment Failure Analysis</subject><subject>Feedback</subject><subject>inverse kinematics</subject><subject>Manipulators</subject><subject>Real time</subject><subject>Reproducibility of Results</subject><subject>Robotics</subject><subject>Robotics - instrumentation</subject><subject>Robotics - methods</subject><subject>Sensitivity and Specificity</subject><subject>Surgery</subject><subject>Surgery, Computer-Assisted - instrumentation</subject><subject>Surgery, Computer-Assisted - methods</subject><subject>surgical robotics</subject><issn>1478-5951</issn><issn>1478-596X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2009</creationdate><recordtype>article</recordtype><sourceid>EIF</sourceid><recordid>eNp9kEFPwjAUgBujEUTjPzA76cEM27Vdx9GgggnRKBq5NV15I9VuxXaL8u8dgeBJT-8dvnx570PolOA-wTi58jr0Eyb2UJcwkcV8kM72dzsnHXQUwjvGjLOUHaIOGdBUpIR10c3QWWuCcVU0hxp0vd5UNY-aqlbVwppqERXOR6HxC6OVjbzLXW10VKrKLBuraufDMToolA1wsp099Hp3-zIcx5PH0f3wehJrmnERizzhjCottCAJqCwXc0Yh13lGgKcJ14yyHJMiAa2SluKk0MALYCTHoDOgPXSx8S69-2wg1LI0QYO1qgLXBCk4TTnlhLbk-b9k-z1NWEZ_ldq7EDwUculNqfxKEizXaWWbVrZpW_Jsq2zyEua_3LZlC1xugC9jYfWXRz4PpxtdvKFNqOF7Ryv_0R5HBZdvDyOJs-nsacbGckp_AHxjkmM</recordid><startdate>200909</startdate><enddate>200909</enddate><creator>Morvan, Tangui</creator><creator>Martinsen, Magnar</creator><creator>Reimers, Martin</creator><creator>Samset, Eigil</creator><creator>Elle, Ole Jakob</creator><general>John Wiley & Sons, Ltd</general><scope>BSCLL</scope><scope>CGR</scope><scope>CUY</scope><scope>CVF</scope><scope>ECM</scope><scope>EIF</scope><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7X8</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>200909</creationdate><title>Collision detection and untangling for surgical robotic manipulators</title><author>Morvan, Tangui ; Martinsen, Magnar ; Reimers, Martin ; Samset, Eigil ; Elle, Ole Jakob</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3857-7b2543ac7c712ea8b7d43ebcb81e5625c434b01f2eca2c7c51fce5fe41b0ec8e3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Algorithms</topic><topic>collision detection</topic><topic>Collision dynamics</topic><topic>collision untangling</topic><topic>Computer simulation</topic><topic>Computer-Aided Design</topic><topic>Dynamics</topic><topic>Equipment Design</topic><topic>Equipment Failure Analysis</topic><topic>Feedback</topic><topic>inverse kinematics</topic><topic>Manipulators</topic><topic>Real time</topic><topic>Reproducibility of Results</topic><topic>Robotics</topic><topic>Robotics - instrumentation</topic><topic>Robotics - methods</topic><topic>Sensitivity and Specificity</topic><topic>Surgery</topic><topic>Surgery, Computer-Assisted - instrumentation</topic><topic>Surgery, Computer-Assisted - methods</topic><topic>surgical robotics</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Morvan, Tangui</creatorcontrib><creatorcontrib>Martinsen, Magnar</creatorcontrib><creatorcontrib>Reimers, Martin</creatorcontrib><creatorcontrib>Samset, Eigil</creatorcontrib><creatorcontrib>Elle, Ole Jakob</creatorcontrib><collection>Istex</collection><collection>Medline</collection><collection>MEDLINE</collection><collection>MEDLINE (Ovid)</collection><collection>MEDLINE</collection><collection>MEDLINE</collection><collection>PubMed</collection><collection>CrossRef</collection><collection>MEDLINE - Academic</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Morvan, Tangui</au><au>Martinsen, Magnar</au><au>Reimers, Martin</au><au>Samset, Eigil</au><au>Elle, Ole Jakob</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Collision detection and untangling for surgical robotic manipulators</atitle><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle><addtitle>Int. J. Med. Robotics Comput. Assist. Surg</addtitle><date>2009-09</date><risdate>2009</risdate><volume>5</volume><issue>3</issue><spage>233</spage><epage>242</epage><pages>233-242</pages><issn>1478-5951</issn><eissn>1478-596X</eissn><abstract>Background
Robotic‐assisted minimally invasive surgery provides several advantages over traditional surgery; however, it also has several drawbacks, such as possible collisions between the robotic arms and a limited field of view.
Methods
A generic method for tracking the configuration of a surgical manipulator in real time is presented. It is coupled with a collision detection and dynamic simulation algorithm, allowing the operator to detect collisions between robotic arms before they happen and presenting the best possible untangling direction to get out of collisions.
Results
Our algorithm successfully tracks the configuration of the Zeus® surgical system and accurately detects possible collisions in real time. A pilot study on our system proved its efficiency in reducing the duration and severity of collisions, at the price of longer completion times.
Conclusion
Our system helps alleviate the collision problem by reducing the time in collision. Copyright © 2009 John Wiley & Sons, Ltd.</abstract><cop>Chichester, UK</cop><pub>John Wiley & Sons, Ltd</pub><pmid>19367614</pmid><doi>10.1002/rcs.247</doi><tpages>10</tpages></addata></record> |
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| identifier | ISSN: 1478-5951 |
| ispartof | The international journal of medical robotics + computer assisted surgery, 2009-09, Vol.5 (3), p.233-242 |
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| language | eng |
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| source | MEDLINE; Wiley Journals |
| subjects | Algorithms collision detection Collision dynamics collision untangling Computer simulation Computer-Aided Design Dynamics Equipment Design Equipment Failure Analysis Feedback inverse kinematics Manipulators Real time Reproducibility of Results Robotics Robotics - instrumentation Robotics - methods Sensitivity and Specificity Surgery Surgery, Computer-Assisted - instrumentation Surgery, Computer-Assisted - methods surgical robotics |
| title | Collision detection and untangling for surgical robotic manipulators |
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