Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control
In robot-assisted surgeries, the surgeon focuses on the surgical tool and its pose, and not on the complete robot’s shape. However, the joints of redundant robots (robots that have more degrees of freedom (DoF) than needed for the positioning of surgical tools) might move in unexpected/undesired way...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2022-09-01
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| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cdbme-2022-1058 |
| _version_ | 1797947901271343104 |
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| author | Karnam Murali Zelechowski Marek Cattin Philippe C. Rauter Georg Gerig Nicolas |
| author_facet | Karnam Murali Zelechowski Marek Cattin Philippe C. Rauter Georg Gerig Nicolas |
| author_sort | Karnam Murali |
| collection | DOAJ |
| description | In robot-assisted surgeries, the surgeon focuses on the surgical tool and its pose, and not on the complete robot’s shape. However, the joints of redundant robots (robots that have more degrees of freedom (DoF) than needed for the positioning of surgical tools) might move in unexpected/undesired ways. Joint motions that lead to patient or collisions are safety critical. We assume that the medical personnel in the operating room can best decide if a planned robot motions come too close to the patient or not. Therefore, we propose an augmented reality-based solution to interact with the robot during surgery planning, and intervention. The tool can be used to command a robot by drawing a trajectory in augmented reality (AR), visualizing the robot movement to check if it is safe before execution. The proposed solution allows surgeons to plan safe robot motion paths before-hand and adapt them when necessary in situ. As a proof-of-concept, we implemented and demonstrated the proposed solution on a 7-DoF redundant robot by commanding different trajectories. The control architecture to plan and execute motion for a surgical robot using AR is a key result of this work. |
| first_indexed | 2024-04-10T21:33:51Z |
| format | Article |
| id | doaj.art-8b6b56d2d5e24be09b85b5091c2f12c4 |
| institution | Directory Open Access Journal |
| issn | 2364-5504 |
| language | English |
| last_indexed | 2024-04-10T21:33:51Z |
| publishDate | 2022-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj.art-8b6b56d2d5e24be09b85b5091c2f12c42023-01-19T12:47:02ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042022-09-018222522810.1515/cdbme-2022-1058Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot ControlKarnam Murali0Zelechowski Marek1Cattin Philippe C.2Rauter Georg3Gerig Nicolas4BIROMED-Lab, Department of Biomedical Engineering, University of Basel, Gewerbestrasse 12,Allschwil, SwitzerlandCenter for Medical Image Analysis & Navigation (CIAN), Department of Biomedical Engineering, University of Basel,Basel, SwitzerlandCenter for Medical Image Analysis & Navigation (CIAN), Department of Biomedical Engineering, University of Basel,Basel, SwitzerlandBIROMED-Lab, Department of Biomedical Engineering, University of Basel,Basel, SwitzerlandBIROMED-Lab, Department of Biomedical Engineering, University of Basel,Basel, SwitzerlandIn robot-assisted surgeries, the surgeon focuses on the surgical tool and its pose, and not on the complete robot’s shape. However, the joints of redundant robots (robots that have more degrees of freedom (DoF) than needed for the positioning of surgical tools) might move in unexpected/undesired ways. Joint motions that lead to patient or collisions are safety critical. We assume that the medical personnel in the operating room can best decide if a planned robot motions come too close to the patient or not. Therefore, we propose an augmented reality-based solution to interact with the robot during surgery planning, and intervention. The tool can be used to command a robot by drawing a trajectory in augmented reality (AR), visualizing the robot movement to check if it is safe before execution. The proposed solution allows surgeons to plan safe robot motion paths before-hand and adapt them when necessary in situ. As a proof-of-concept, we implemented and demonstrated the proposed solution on a 7-DoF redundant robot by commanding different trajectories. The control architecture to plan and execute motion for a surgical robot using AR is a key result of this work.https://doi.org/10.1515/cdbme-2022-1058armedical roboticshuman robot interaction |
| spellingShingle | Karnam Murali Zelechowski Marek Cattin Philippe C. Rauter Georg Gerig Nicolas Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control Current Directions in Biomedical Engineering ar medical robotics human robot interaction |
| title | Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control |
| title_full | Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control |
| title_fullStr | Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control |
| title_full_unstemmed | Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control |
| title_short | Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control |
| title_sort | augmented reality for 6 dof motion recording preview and execution to enable intuitive surgical robot control |
| topic | ar medical robotics human robot interaction |
| url | https://doi.org/10.1515/cdbme-2022-1058 |
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