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Abstract
Abstract Robotic assistance systems for surgery enable fast and precise interventions with reduced complication rates. However, these benefits are accompanied by a more complex operating room (OR) and the risk of collision with robotic assistance systems. Current strategies for collision avoidance and minimizing possible injuries require the adaptation of robotic trajectories and a computational model of the surroundings. In contrast, this work presents a novel companion system for collision avoidance without influencing robotic trajectories. The companion system consists of a preoperative planning application and an augmented reality application for intraoperative support. The companion system visualizes the workflow within the OR and allows robot movements to be seen virtually, before they are executed by the actual robotic assistance system. Preliminary experiments with users imply that the companion system leads to a positive user experience, enables users to follow a predefined workflow in the OR, but requires further refinement to improve accuracy for practical collision avoidance.
Highlights
The use of robotic assistance systems in the operating room (OR) is expected to decrease complication rates as well as increase the precision of surgical procedures [1]
Research on handling such collisions is subdivided into avoiding collisions and minimizing injuries in humans caused by a collision with a robotic assistance system [4]
The preliminary experiments with users indicate that the augmented reality (AR) application effectively communicates the predefined workflow
Summary
The use of robotic assistance systems in the OR is expected to decrease complication rates as well as increase the precision of surgical procedures [1]. In robot-assisted surgeries, robotic assistance systems, medical devices and healthcare professionals collaborate in close proximity, resulting in a heightened risk of collision [3]. Research on handling such collisions is subdivided into avoiding collisions and minimizing injuries in humans caused by a collision with a robotic assistance system [4]. A monitoring system is used for the collision-free trajectory planning [3, 7, 8] These concepts need access to the robot’s control unit and have so far not been successfully applied to complex and unpredictable surgical procedures like the robot-assisted needle placement
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