Please use this identifier to cite or link to this item: doi:10.22028/D291-30871
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Title: Planning for Flexible Surgical Robots via Bézier Spline Translation
Author(s): Fauser, Johannes
Seelecke, Stefan
Werthschutzky, Roland
Kupnik, Mario
Mukhopadhyay, Anirban
Chadda, Romol
Goergen, Yannik
Hessinger, Markus
Motzki, Paul
Stenin, Igor
Kristin, Julia
Klenzner, Thomas
Schipper, Jorg
Language: English
Title: IEEE robotics and automation letters
Volume: 4
Issue: 4
Startpage: 3270
Endpage: 3277
Publisher/Platform: IEEE
Year of Publication: 2019
Publikation type: Journal Article
Abstract: In a minimally invasive surgery, new flexible instruments enable safer and easier access to difficult-to-reach anatomical regions. However, their introduction into the clinical workflow requires robust replanning because navigation errors during surgery render initially planned trajectories infeasible. Such replanning requires to regularly solve an expensive two-point boundary value problem (BVP) that connects the target pose of the instrument with the currently measured one. We propose a hybrid planning scheme that features both robust and safe replanning. This two-step approach first solves the BVP and then transforms the result to circular arcs that fit the motion of our instruments' models. We exploit implicitly defined Bézier splines as a robust method for interpolation in the first step. A novel geometric translation of these splines, then, provides a convenient solution for movement along circular arcs. We consider two example applications: 1) planning for a drilling unit in temporal bone surgery; and 2) guidewires in catheter insertion. Evaluation on real patient data of both temporal bone and aorta show that our proposed hybrid two-step approach achieves, on average, 55% higher replanning.
DOI of the first publication: 10.1109/LRA.2019.2926221
URL of the first publication:
Link to this record: hdl:20.500.11880/29096
ISSN: 2377-3766
Date of registration: 7-May-2020
Faculty: NT - Naturwissenschaftlich- Technische Fakultät
Department: NT - Systems Engineering
Professorship: NT - Prof. Dr. Stefan Seelecke
Collections:SciDok - Der Wissenschaftsserver der Universität des Saarlandes

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