Dynamic Active Constraints for Hyper-Redundant Flexible Robots

Authors:
Ka-Wai Kwok;George P. Mylonas;Loi Wah Sun;Mirna Lerotic;James Clark;Thanos Athanasiou;Ara Darzi;Guang-Zhong Yang
Affiliations:
Institute of Biomedical Engineering, Royal Society/Wolfson Medical Image Computing Laboratory,;Institute of Biomedical Engineering, Royal Society/Wolfson Medical Image Computing Laboratory,;Institute of Biomedical Engineering, Royal Society/Wolfson Medical Image Computing Laboratory,;Institute of Biomedical Engineering, Royal Society/Wolfson Medical Image Computing Laboratory,;Institute of Biomedical Engineering, Royal Society/Wolfson Medical Image Computing Laboratory,;Department of Bio-Surgery and Surgical Technology,;Department of Surgical Oncology and Technology, Imperial College London, London, United Kingdom;Institute of Biomedical Engineering, Royal Society/Wolfson Medical Image Computing Laboratory,
Venue:
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Year:
2009

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Abstract

In robot-assisted procedures, the surgeon's ability can be enhanced by navigation guidance through the use of virtual fixtures or active constraints. This paper presents a real-time modeling scheme for dynamic active constraints with fast and simple mesh adaptation under cardiac deformation and changes in anatomic structure. A smooth tubular pathway is constructed which provides assistance for a flexible hyper-redundant robot to circumnavigate the heart with the aim of undertaking bilateral pulmonary vein isolation as part of a modified maze procedure for the treatment of debilitating arrhythmia and atrial fibrillation. In contrast to existing approaches, the method incorporates detailed geometrical constraints with explicit manipulation margins of the forbidden region for an entire articulated surgical instrument, rather than just the end-effector itself. Detailed experimental validation is conducted to demonstrate the speed and accuracy of the instrument navigation with and without the use of the proposed dynamic constraints.