Increasing accuracy in image-guided robotic surgery through tip tracking and model-based flexion correction
Name
Beasley-2009-Increasing Accuracy.pdf
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537.11 KB
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Checksum (MD5)
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Author(s)
Beasley, Ryan A.
Howe, Robert D.
Date Issued
April 2009
Journal
IEEE Transactions on Robotics
Publisher
Institute of Electrical and Electronics Engineers
Citation
Beasley, R.A., and R.D. Howe. “Increasing Accuracy in Image-Guided Robotic Surgery Through Tip Tracking and Model-Based Flexion Correction.” Robotics, IEEE Transactions on 25.2 (2009): 292-302. © 2009 Institute of Electrical and Electronics Engineers
Version
Final published version
Abstract
Robot assistance can enhance minimally invasive image-guided surgery, but flexion of the thin surgical instrument shaft impairs accurate control by creating errors in the kinematic model. Two controller enhancements that can mitigate these errors are improved kinematic models that account for flexing and direct measurement of the instrument tip's position. This paper presents an experiment quantifying the benefits of these enhancements in an effort to inform development of an image-guided robot control system accurate in the presence of quasi-static instrument flexion. The study measured a controller's ability to guide a flexing instrument along user-commanded motions while preventing incursions into a forbidden region virtual fixture. Compared with the controller using neither enhancement, improved kinematics and reduced maximum incursion depth into the forbidden region by 28%, tip tracking by 67%, and both enhancements together by 83%.
Subjects
surgery
quasi-static
modeling
flexible structures
MIT Department
Harvard University--MIT Division of Health Sciences and Technology
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
http://dx.doi.org/10.1109/TRO.2009.2014498
