Corpus ID: 219260099

Anatomical Mesh-Based Virtual Fixtures for Surgical Robots

@article{Li2020AnatomicalMV,
  title={Anatomical Mesh-Based Virtual Fixtures for Surgical Robots},
  author={Zhaoshuo Li and A. Gordon and T. Looi and J. Drake and C. Forrest and R. Taylor},
  journal={ArXiv},
  year={2020},
  volume={abs/2006.02415}
}
  • Zhaoshuo Li, A. Gordon, +3 authors R. Taylor
  • Published 2020
  • Engineering, Computer Science
  • ArXiv
  • 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 efficiently at 180 Hz for a mesh object containing 989,376 triangles and 493,460 vertices. The… CONTINUE READING

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