Implementation of a Motion Planning Framework for the daVinci Surgical System Research Kit
Implementation of a Motion Planning Framework for the daVinci Surgical System Research Kit
复制标题
达芬奇手术系统研究套件运动规划框架的实施
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
G. Fischer
中科院分区：
文献类型：
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作者：
Zhixian Zhang;A. Munawar;G. Fischer
在传统的远程操作模式中，主工具操纵器（MTM）与患者侧操纵器（PSM）连接。MTM的夹具的位置和方向的相应变化转化为PSM的关节的相应致动以及相应的其末端执行器的姿态。ROS作为数据流的中间件的集成显著增强了将计算机智能添加到外科手术的能力。在所描述的框架内，已经开发了MTM和PSM的运动学和动力学仿真模型。该框架与RViz紧密集成，RViz是ROS原生的3D可视化工具，可以执行规划，操纵和轨迹控制等任务。对于规划和操作任务，有必要对环境和障碍物进行3D表示。为了生成三维点云的环境，我们利用一对紧凑的立体相机。然而，来自各种来源的实时和配准的术前成像的3D体积和点云可以容易地并入系统中。本文提出了一种基于3D流点云的无碰撞运动规划的系统架构和方法。目标是通过引导工具遵循最佳路径同时避开敏感解剖特征或其他障碍物来为外科医生提供帮助。机器人仿真与控制
In the traditional teleoperation mode, the Master Tool Manipulators (MTMs) interface with the Patient Side Manipulators (PSMs). Corresponding changes in the position and orientation of the MTM’s grippers translate into corresponding actuation of the PSM’s joints and correspondingly its end effector’s pose. Integration of ROS as a middleware for data flow significantly enhances the ability to add computer intelligence to the surgical procedures. Within the described framework, kinematic and dynamic simulation models of the MTMs and PSMs have been developed. The framework is tightly integrated with RViz, a 3D visualization tool that is native to ROS and allows for tasks such as planning, manipulation and trajectory control. For planning and manipulation tasks, it is necessary to have a 3D representation of the environment and obstacles. In order to generate 3D point clouds of the environment, we utilize a pair of compact stereo cameras. However, 3D volumes and point clouds from both live and registered preoperative imaging from various sources may be readily incorporated into the system. In this paper, a system architecture and a method for a collision free motion planning is proposed from 3D streaming point clouds. The goal is to provide assistance to the surgeon by guiding a tool to follow an optimal path while avoiding sensitive anatomical features or other obstacles. ROBOT SIMULATION & CONTROL