Anatomical Mesh-Based Virtual Fixtures for Surgical Robots
Zhaoshuo Li,Alex Gordon,Thomas Looi,James Drake,Christopher Forrest,Russell H. Taylor,Zhaoshuo Li,Alex Gordon,Thomas Looi,James Drake,Christopher Forrest,Russell H. Taylor
This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots without any assumption of the local anatomical shape close to the tool. Using a bounded search strategy and Principle Directed tree, the proposed system can run e...
