Robotic Guidance of a Surgical Tool Under Constrained Motions - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IEEE Transactions on Medical Robotics and Bionics Année : 2023

Robotic Guidance of a Surgical Tool Under Constrained Motions

Résumé

This article formulates a generic representation of a path-following controller operating under contained motion, which was developed in the context of surgical robotics. It reports two types of constrained motion: i) Bilateral Constrained Motion, also called Remote Centre Motion (RCM), and ii) Unilaterally Constrained Motion (UCM). To deal with the constrained motion of a surgical tool when performing a path-following task inside a cavity, we investigated methods that combine the two tasks operating in a hierarchical manner. The proposed solutions were successfully evaluated, first on our simulator that mimics realistic conditions of middle ear surgery, then on an experimental platform. Different validation scenarios were carried out experimentally to assess quantitatively and qualitatively each developed approach. Although ultimate precision was not the goal of this work, our concept is validated with enough accuracy (≤ 100 µm) for the ear surgery.
Fichier principal
Vignette du fichier
finale_version.pdf (6.26 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04184096 , version 1 (21-08-2023)

Identifiants

Citer

Bassem Dahroug, Brahim Tamadazte, Patrick Rougeot, Nicolas Andreff. Robotic Guidance of a Surgical Tool Under Constrained Motions. IEEE Transactions on Medical Robotics and Bionics, 2023, 5 (3), pp.645-656. ⟨10.1109/TMRB.2023.3294526⟩. ⟨hal-04184096⟩
14 Consultations
22 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More