TY - GEN
T1 - Updating virtual fixtures from exploration data in force-controlled model-based telemanipulation
AU - Wang, Long
AU - Chen, Zihan
AU - Chalasani, Preetham
AU - Pile, Jason
AU - Kazanzides, Peter
AU - Taylor, Russell H.
AU - Simaan, Nabil
N1 - Publisher Copyright:
Copyright © 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - This paper proposes an approach for using force-controlled exploration data to update and register an a - priori virtual fixture geometry to a corresponding deformed and displaced physical environment. An approach for safe exploration implementing hybrid motion/force control is presented on the slave robot side. During exploration, the shape and the local surface normals of the environment are estimated and saved in an exploration data set. The geometric data collected during this exploration scan is used to deform and register the a - priori environment model to the exploration data set. The environment registration is achieved using a deformable registration based on the coherent point drift method. The task-description of the high-level assistive telema-nipulation law (virtual fixture) is then deformed and registered in the new environment. The new model is updated and used within a model-mediated telemanipulation framework. The approach is experimentally validated using a da-Vinci research kit (DVRK) master interface and a Cartesian stage robot. Experiments demonstrate that the updated virtual fixture and the updated model allow the users to improve their path following performance and to shorten their completion time when the updated path following virtual fixture is applied. The approach presented has direct bearing on a multitude of surgical applications including force-controlled ablation.
AB - This paper proposes an approach for using force-controlled exploration data to update and register an a - priori virtual fixture geometry to a corresponding deformed and displaced physical environment. An approach for safe exploration implementing hybrid motion/force control is presented on the slave robot side. During exploration, the shape and the local surface normals of the environment are estimated and saved in an exploration data set. The geometric data collected during this exploration scan is used to deform and register the a - priori environment model to the exploration data set. The environment registration is achieved using a deformable registration based on the coherent point drift method. The task-description of the high-level assistive telema-nipulation law (virtual fixture) is then deformed and registered in the new environment. The new model is updated and used within a model-mediated telemanipulation framework. The approach is experimentally validated using a da-Vinci research kit (DVRK) master interface and a Cartesian stage robot. Experiments demonstrate that the updated virtual fixture and the updated model allow the users to improve their path following performance and to shorten their completion time when the updated path following virtual fixture is applied. The approach presented has direct bearing on a multitude of surgical applications including force-controlled ablation.
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U2 - 10.1115/DETC2016-59305
DO - 10.1115/DETC2016-59305
M3 - Conference contribution
AN - SCOPUS:85007518674
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 40th Mechanisms and Robotics Conference
T2 - ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Y2 - 21 August 2016 through 24 August 2016
ER -