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• W4385302311 abstract "In the robot-assisted minimally invasive surgery, if a collision occurs, the robot system program could be damaged, and normal tissues could be injured. To avoid collisions during surgery, a 3-dimensional collision avoidance method is proposed in this paper. The proposed method is predicated on the design of 3 strategic vectors: the collision-with-instrument-avoidance (CI) vector, the collision-with-tissues-avoidance (CT) vector, and the constrained-control (CC) vector. The CI vector demarcates 3 specific directions to forestall collision among the surgical instruments. The CT vector, on the other hand, comprises 2 components tailored to prevent inadvertent contact between the robot-controlled instrument and nontarget tissues. Meanwhile, the CC vector is introduced to guide the endpoint of the robot-controlled instrument toward the desired position, ensuring precision in its movements, in alignment with the surgical goals. Simulation results verify the proposed collision avoidance method for robot-assisted minimally invasive surgery. The code and data are available at https://github.com/cynerelee/collision-avoidance ." @default.
• W4385302311 created "2023-07-28" @default.
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• W4385302311 date "2023-01-01" @default.
• W4385302311 modified "2023-10-17" @default.
• W4385302311 title "Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery" @default.
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• W4385302311 doi "https://doi.org/10.34133/cbsystems.0042" @default.
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• W4385302311 hasPublicationYear "2023" @default.
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