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Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery.

Ling Li^1,2,3, Xiaojian Li^1,2,3, Bo Ouyang^1,2,3

¹School of Management, Hefei University of Technology, Hefei, China.

Cyborg and Bionic Systems (Washington, D.C.)

|September 7, 2023

Summary

This summary is machine-generated.

This study introduces a 3D collision avoidance method for robot-assisted surgery, using strategic vectors to prevent instrument and tissue damage. Simulations confirm its effectiveness in enhancing surgical safety.

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Area of Science:

Robotics
Surgical Technology
Computer-Aided Surgery

Background:

Robot-assisted minimally invasive surgery (RMIS) offers precision but risks program damage and tissue injury from collisions.
Existing methods may not fully address the complexities of 3D space and multi-object interactions in RMIS.

Purpose of the Study:

To propose and validate a novel 3-dimensional collision avoidance method for RMIS.
To enhance safety and precision in robot-assisted surgical procedures by preventing unintended collisions.

Main Methods:

Development of a 3D collision avoidance strategy based on three strategic vectors: collision-with-instrument-avoidance (CI), collision-with-tissues-avoidance (CT), and constrained-control (CC).
The CI vector defines directions to prevent instrument-instrument collisions.
The CT vector includes components to avoid contact with non-target tissues, while the CC vector ensures precise instrument endpoint guidance.

Main Results:

Simulation results demonstrate the efficacy of the proposed 3D collision avoidance method.
The method successfully guided the robot instrument, preventing collisions with both other instruments and surrounding tissues.

Conclusions:

The proposed 3D collision avoidance method is effective for robot-assisted minimally invasive surgery.
This approach contributes to safer and more reliable RMIS by mitigating collision risks.