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Article: Dynamic active constraints for hyper-redundant flexible robots.

TitleDynamic active constraints for hyper-redundant flexible robots.
Authors
Issue Date2009
Citation
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention, 2009, v. 12, n. Pt 1, p. 410-417 How to Cite?
AbstractIn robot-assisted procedures, the surgeon's ability can be enhanced by navigation guidance through the use of virtual fixtures or active constraints. This paper presents a real-time modeling scheme for dynamic active constraints with fast and simple mesh adaptation under cardiac deformation and changes in anatomic structure. A smooth tubular pathway is constructed which provides assistance for a flexible hyper-redundant robot to circumnavigate the heart with the aim of undertaking bilateral pulmonary vein isolation as part of a modified maze procedure for the treatment of debilitating arrhythmia and atrial fibrillation. In contrast to existing approaches, the method incorporates detailed geometrical constraints with explicit manipulation margins of the forbidden region for an entire articulated surgical instrument, rather than just the end-effector itself. Detailed experimental validation is conducted to demonstrate the speed and accuracy of the instrument navigation with and without the use of the proposed dynamic constraints.
Persistent Identifierhttp://hdl.handle.net/10722/200014

 

DC FieldValueLanguage
dc.contributor.authorKwok, Kawai-
dc.contributor.authorMylonas, George P.-
dc.contributor.authorSun, Loiwah-
dc.contributor.authorLerotic, Mirna-
dc.contributor.authorClark, James A.-
dc.contributor.authorAthanasiou, Thanos C.-
dc.contributor.authorDarzi, Ara-
dc.contributor.authorYang, Guangzhong-
dc.date.accessioned2014-07-26T23:11:02Z-
dc.date.available2014-07-26T23:11:02Z-
dc.date.issued2009-
dc.identifier.citationMedical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention, 2009, v. 12, n. Pt 1, p. 410-417-
dc.identifier.urihttp://hdl.handle.net/10722/200014-
dc.description.abstractIn robot-assisted procedures, the surgeon's ability can be enhanced by navigation guidance through the use of virtual fixtures or active constraints. This paper presents a real-time modeling scheme for dynamic active constraints with fast and simple mesh adaptation under cardiac deformation and changes in anatomic structure. A smooth tubular pathway is constructed which provides assistance for a flexible hyper-redundant robot to circumnavigate the heart with the aim of undertaking bilateral pulmonary vein isolation as part of a modified maze procedure for the treatment of debilitating arrhythmia and atrial fibrillation. In contrast to existing approaches, the method incorporates detailed geometrical constraints with explicit manipulation margins of the forbidden region for an entire articulated surgical instrument, rather than just the end-effector itself. Detailed experimental validation is conducted to demonstrate the speed and accuracy of the instrument navigation with and without the use of the proposed dynamic constraints.-
dc.languageeng-
dc.relation.ispartofMedical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention-
dc.titleDynamic active constraints for hyper-redundant flexible robots.-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.pmid20426014-
dc.identifier.scopuseid_2-s2.0-79551682324-
dc.identifier.volume12-
dc.identifier.issuePt 1-
dc.identifier.spage410-
dc.identifier.epage417-

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