Li Ling, Li Xiaojian, Ouyang Bo, Mo Hangjie, Ren Hongliang, Yang Shanlin
School of Management, Hefei University of Technology, Hefei, China.
Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China.
Cyborg Bionic Syst. 2023 Aug 30;4:0042. doi: 10.34133/cbsystems.0042. eCollection 2023.
In the robot-assisted minimally invasive surgery, if a collision occurs, the robot system program could be damaged, and normal tissues could be injured. To avoid collisions during surgery, a 3-dimensional collision avoidance method is proposed in this paper. The proposed method is predicated on the design of 3 strategic vectors: the collision-with-instrument-avoidance (CI) vector, the collision-with-tissues-avoidance (CT) vector, and the constrained-control (CC) vector. The CI vector demarcates 3 specific directions to forestall collision among the surgical instruments. The CT vector, on the other hand, comprises 2 components tailored to prevent inadvertent contact between the robot-controlled instrument and nontarget tissues. Meanwhile, the CC vector is introduced to guide the endpoint of the robot-controlled instrument toward the desired position, ensuring precision in its movements, in alignment with the surgical goals. Simulation results verify the proposed collision avoidance method for robot-assisted minimally invasive surgery. The code and data are available at https://github.com/cynerelee/collision-avoidance.
在机器人辅助微创手术中，如果发生碰撞，机器人系统程序可能会受损，正常组织也可能会受到损伤。为避免手术过程中发生碰撞，本文提出了一种三维碰撞避免方法。该方法基于三个策略向量的设计：器械碰撞避免（CI）向量、组织碰撞避免（CT）向量和约束控制（CC）向量。CI向量划定了三个特定方向，以防止手术器械之间发生碰撞。另一方面，CT向量由两个组件组成，旨在防止机器人控制的器械与非目标组织发生意外接触。同时，引入CC向量以将机器人控制的器械端点引导至期望位置，确保其运动精度与手术目标一致。仿真结果验证了所提出的机器人辅助微创手术碰撞避免方法。代码和数据可在https://github.com/cynerelee/collision-avoidance获取。
