Visual Wrench Reference and Feedback for Robot-Assisted Minimally Invasive Surgery

Wrench feedback for guided Minimally Invasive Surgery (MIS) is described in the paper. A visual wrench diagram scheme is constructed to provide objective, high resolution and accurate feedback for MIS. The six-component wrench vector is characterized entirely through force-moment components on a two...

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Bibliographic Details
Published in2022 IEEE 4th International Conference on Cybernetics, Cognition and Machine Learning Applications (ICCCMLA) pp. 292 - 296
Main Authors Bharadvaj, Bimmi, Dwarakanath, T A, Bhutani, Gaurav, Swain, Hemanta
Format Conference Proceeding
LanguageEnglish
Published IEEE 08.10.2022
Subjects
Cognition
History
Human-Computer Interaction
Machine learning
Minimally invasive surgery
Robot-Assisted Surgery
Trajectory
Two dimensional displays
Visual Wrench Diagrams
Visualization
Wrench Guided Surgery
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Summary:Wrench feedback for guided Minimally Invasive Surgery (MIS) is described in the paper. A visual wrench diagram scheme is constructed to provide objective, high resolution and accurate feedback for MIS. The six-component wrench vector is characterized entirely through force-moment components on a two-dimensional display. The wrench diagrams are obtained with respect to multiple frames of reference, including target points in the Region of Interest defined on the patient body. Simulated experiments are conducted to display the wrench state in perspective of the target point on the patient body. The capability of wrench diagrams in preserving the historical instants shows the course of the wrench trajectory for supervision and correction. The paper shows that the simultaneity of position and wrench trajectory provides a comprehensive surgical state. Wrench diagrams help to effectively convey the deviation of the actual wrench trajectory from the commanded wrench trajectory.
DOI:10.1109/ICCCMLA56841.2022.9988991