Virtual-Fixture-Based Osteotomy Shared Control: A Framework for Human-Robot Shared Surgical Osteotomy Manipulation

doi:10.1109/TMRB.2023.3320520

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Virtual-Fixture-Based Osteotomy Shared Control: A Framework for Human-Robot Shared Surgical Osteotomy Manipulation

2023-11-01

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DOI：10.1109/TMRB.2023.3320520

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Abstract

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Human-robot shared control is an effective approach to enhancing the efficiency of surgical operations, as it integrates the strengths of both humans and robots. The use of conventional robot-assisted surgery, where the surgeon is solely responsible for manipulation, is limited when it comes to complex surgical procedures that require real-time manipulations such as mandibular angle split osteotomy and decompressive laminectomy. With the rising demands of manipulation, we proposed a shared control framework which automates surgical subtasks like milling-path following. These subtasks have demands on contact control, orientation control, and positional control. The robot provides hands-on hapic transparency and milling-path control with a virtual-fixture-based hybrid force/position methods simultaneously in real-time. The hybrid task's decomposition method is derived from Frenet-Serret frames and can be adaptive to patients' movement. The effectiveness of the proposed framework is validated on a 7 DOF manipulator. Results of the lateral positions/force indicated that with the osteotomy shared control framework, lateral positional errors and transparent force errors can be constrained within 0.7mm and 1.35 N (2.52 N considering noises), which is superior to the average deviation of surgeons with free hand (up to 5.0 mm) and the extra payloads to hands due to weight (around 10.0 N).

Keywords:

Index Terms-Shared control

surgical robotic system

semiautonomous manipulation

virtual fixtures

contact control