Automatic tracking of laparoscopic instruments by color coding
CVRMed-MRCAS '97 Proceedings of the First Joint Conference on Computer Vision, Virtual Reality and Robotics in Medicine and Medial Robotics and Computer-Assisted Surgery
The use of localizers, robots and synergistic devices in CAS
CVRMed-MRCAS '97 Proceedings of the First Joint Conference on Computer Vision, Virtual Reality and Robotics in Medicine and Medial Robotics and Computer-Assisted Surgery
Virtual Fixtures for Robotic Cardiac Surgery
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
Nonholonomic Modeling of Needle Steering
International Journal of Robotics Research
The Benefit of Force Feedback in Surgery: Examination of Blunt Dissection
Presence: Teleoperators and Virtual Environments
Visual tracking algorithm for laparoscopic robot surgery
FSKD'05 Proceedings of the Second international conference on Fuzzy Systems and Knowledge Discovery - Volume Part II
Vision-assisted control for manipulation using virtual fixtures
IEEE Transactions on Robotics
Inverse Jacobian Regulator With Gravity Compensation: Stability and Experiment
IEEE Transactions on Robotics
Image-Guided Robotic Flexible Needle Steering
IEEE Transactions on Robotics
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Robot assistance can enhance minimally invasive image-guided surgery, but flexion of the thin surgical instrument shaft impairs accurate control by creating errors in the kinematic model. Two controller enhancements that can mitigate these errors are improved kinematic models that account for flexing and direct measurement of the instrument tip's position. This paper presents an experiment quantifying the benefits of these enhancements in an effort to inform development of an image-guided robot control system accurate in the presence of quasi-static instrument flexion. The study measured a controller's ability to guide a flexing instrument along user-commanded motions while preventing incursions into a forbidden region virtual fixture. Compared with the controller using neither enhancement, improved kinematics and reduced maximum incursion depth into the forbidden region by 28%, tip tracking by 67%, and both enhancements together by 83%.