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Updated: Jun 24, 2026
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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
Published on: January 7, 2019
Collision detection and untangling for surgical robotic manipulators.
Tangui Morvan1, Magnar Martinsen, Martin Reimers
1Interventional Centre, Faculty of Medicine, University of Oslo, Norway. tangui.morvan@medisin.uio.no
Summary
This study introduces a real-time collision detection system for robotic surgery arms, significantly reducing collision time and severity. The developed algorithm enhances safety in robotic-assisted minimally invasive surgery.
Area of Science:
- Robotics
- Surgical Technology
- Computer-Aided Surgery
Background:
- Robotic-assisted surgery offers benefits but faces challenges like robotic arm collisions and limited visualization.
- Potential for intraoperative collisions between robotic instruments poses a significant safety risk.
Purpose of the Study:
- To present a generic real-time tracking method for surgical manipulators.
- To develop and integrate a collision detection and dynamic simulation algorithm for robotic surgery systems.
Main Methods:
- A real-time configuration tracking system for surgical manipulators was developed.
- The tracking system was coupled with a collision detection and dynamic simulation algorithm.
- The algorithm provides operators with untangling directions to resolve collisions.
Main Results:
- The algorithm accurately tracked the Zeus surgical system's configuration in real time.
- Collision detection was precise, identifying potential collisions before they occurred.
- A pilot study demonstrated reduced collision duration and severity, albeit with slightly increased procedure times.
Conclusions:
- The developed system effectively mitigates robotic arm collision issues in surgery.
- By reducing time spent in collision, the system enhances surgical safety and efficiency.
