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- Publisher Website: 10.1109/ICRA.2014.6906622
- Scopus: eid_2-s2.0-84929223137
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Conference Paper: Implicit Active Constraints for a Compliant Surgical Manipulator
Title | Implicit Active Constraints for a Compliant Surgical Manipulator |
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Authors | |
Issue Date | 2014 |
Publisher | IEEE, Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639 |
Citation | Proceedings of 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 31 May-7 June 2014, p. 276-283 How to Cite? |
Abstract | Active constraints are high-level control algorithms providing software-generated force feedback from virtual environments. When applied to surgery, they can assist surgeons in performing complex tasks by guiding their navigation pathways along narrow, possibly convoluted, surgical trajectories. This paper presents a method to generate concave tubular constraints implicitly from pre- or intra-operative data. Patient-specific constraints may be generated efficiently with the proposed scheme and readily deployed in various surgical scenarios. Furthermore, a five degree-of-freedom active constraint framework is proposed, which accounts for the entire tool shaft rather than just the end-effector, and is applicable to both static and dynamic active constraint scenarios. Experimental results on simulated surgical tasks show that this framework can improve safety and accuracy as well as reduce the perceived workload during complex surgical tasks. |
Persistent Identifier | http://hdl.handle.net/10722/273053 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Leibrandt, K | - |
dc.contributor.author | Marcus, HJ | - |
dc.contributor.author | Kwok, KW | - |
dc.contributor.author | Yang, G | - |
dc.date.accessioned | 2019-08-06T09:21:41Z | - |
dc.date.available | 2019-08-06T09:21:41Z | - |
dc.date.issued | 2014 | - |
dc.identifier.citation | Proceedings of 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 31 May-7 June 2014, p. 276-283 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/273053 | - |
dc.description.abstract | Active constraints are high-level control algorithms providing software-generated force feedback from virtual environments. When applied to surgery, they can assist surgeons in performing complex tasks by guiding their navigation pathways along narrow, possibly convoluted, surgical trajectories. This paper presents a method to generate concave tubular constraints implicitly from pre- or intra-operative data. Patient-specific constraints may be generated efficiently with the proposed scheme and readily deployed in various surgical scenarios. Furthermore, a five degree-of-freedom active constraint framework is proposed, which accounts for the entire tool shaft rather than just the end-effector, and is applicable to both static and dynamic active constraint scenarios. Experimental results on simulated surgical tasks show that this framework can improve safety and accuracy as well as reduce the perceived workload during complex surgical tasks. | - |
dc.language | eng | - |
dc.publisher | IEEE, Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639 | - |
dc.relation.ispartof | IEEE International Conference on Robotics and Automation | - |
dc.rights | IEEE International Conference on Robotics and Automation. Copyright © IEEE, Computer Society. | - |
dc.rights | ©2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.title | Implicit Active Constraints for a Compliant Surgical Manipulator | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Kwok, KW: kwokkw@hku.hk | - |
dc.identifier.authority | Kwok, KW=rp01924 | - |
dc.identifier.doi | 10.1109/ICRA.2014.6906622 | - |
dc.identifier.scopus | eid_2-s2.0-84929223137 | - |
dc.identifier.hkuros | 300196 | - |
dc.identifier.spage | 276 | - |
dc.identifier.epage | 283 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 1050-4729 | - |