Abstract
In endoscopic sinus surgery, the robot assists the surgeon in holding the endoscope and acts as the surgeon’s third hand, which helps to reduce the surgeon’s operating burden and improve the quality of the operation. This paper proposes a human–robot cooperative control method based on virtual fixture to realize accurate and safe human–robot interaction in endoscopic sinus surgery. Firstly, through endoscopic trajectory analysis, the endoscopic motion constraint requirements of different surgical stages are obtained, and three typical virtual fixtures suitable for endoscopic sinus surgery are designed and implemented. Based on the typical virtual fixtures, a composite virtual fixture is constructed, and then the overall robot motion constraint model is obtained. Secondly, based on the obtained robot motion constraint model, a human–robot cooperative control method based on virtual fixture is proposed. The method adopts admittance control to realize efficient human–robot interaction between the surgeon and robot during the surgery; the virtual fixture is used to restrain and guide the motion of the robot, thereby ensuring motion safety of the robot. Finally, the proposed method is evaluated through a robot-assisted nasal endoscopy experiment, and the result shows that the proposed method can improve the accuracy and safety of operation during endoscopic sinus surgery.
Highlights
Traditional endoscopic sinus surgery is usually performed by a surgeon with a left-handed nasal endoscope and right-handed surgical instruments
Based on the above robot motion constraint requirement analysis, the main types of VFs in endoscopic sinus surgery can be obtained as follows: GVF based on the spatial curve, FRVF based on the plane and hyperboloid, and FRVF based on the anatomical structure of the nasal cavity
When k= 1, the velocity of the robot end remains unchanged before endoscopic sinus surgery can be obtained as follows: GVF based on the spatial curve, FRVF based on the plane and hyperboloid, and FRVF based on the anatomical structure of the nasal cavity
Summary
Traditional endoscopic sinus surgery is usually performed by a surgeon with a left-handed nasal endoscope and right-handed surgical instruments. Based on the above control mode and safety constraint analysis, considering the current clinical requirements of endoscopic sinus surgery, this paper proposes a human–robot cooperative control method based on VFs in robot-assisted endoscopic sinus surgery This method uses admittance-based cooperative control to realize human–robot interaction between the surgeon and robot during surgery; Appl. Theoperational narrow and complex anatomicaland structure of the nasal it easy the for the endoscope at the end of the robot to interfere with the nasal tissue, and the entire surgical operation space is very requirements for each motion stage during endoscopic sinus surgery are determined based on the crowded. Typical VF models, a composite VF model is constructed to achieve the robot constraint for the whole endoscopic sinus surgery
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