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Real-time active constraint generation and enforcement for surgical tools using 3D detection and localisation

Spyridon Souipas1, Anh Nguyen2, Stephen G Laws1

  • 1Mechatronics in Medicine, Imperial College London, Mechanical Engineering, London, United Kingdom.

Frontiers in Robotics and AI
|April 2, 2024
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This study introduces active constraints for collaborative robots in surgery, using a camera-based network for real-time boundary definition and enforcement. The system successfully prevented surgeons from exceeding safe zones, enhancing patient safety.

Keywords:
3D pose estimationactive constraintssurgical roboticssurgical tool detectionsurgical tool localisation

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Area of Science:

  • Robotics
  • Surgical Technology
  • Computer Vision

Background:

  • Collaborative robots (cobots) benefit from active constraints for safety during human-robot interaction.
  • Current systems face a gap between bulky haptic feedback robots and miniaturized systems with limited constraint enforcement.
  • Active constraint generation often relies on external tracking and preoperative imaging.

Purpose of the Study:

  • To present a refined collaborative robot platform for orthopaedic surgery.
  • To introduce an 'on-the-fly' active constraint generation and enforcement method using a monocular RGB camera network (SimPS-Net).
  • To evaluate the system's effectiveness in defining and enforcing safe and restricted regions.

Main Methods:

  • A refined three-degrees-of-freedom collaborative robot, the Signature Robot, was utilized.
  • A real-time monocular RGB camera-based network (SimPS-Net) was employed for on-the-fly boundary definition.
  • Two active constraints (safe region, restricted region) were tested for enforcement.

Main Results:

  • The SimPS-Net achieved a 54.7% ± 5.2% object localization success rate.
  • In the safe region, haptic feedback resisted boundary تجاوزs (2.70 mm ± 0.37 mm from boundary).
  • The restricted-zone constraint successfully prevented boundary penetration in 100% of attempts.

Conclusions:

  • The proposed robotic platform and constraint pipeline demonstrate viability for surgical applications.
  • Real-time, camera-based active constraint generation and enforcement are effective.
  • The system shows promise for enhancing safety in collaborative surgical robotics.