Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice

In the context of keyhole surgery, and more particularly of uterine biopsy, the fine automatic movements of a surgical instrument held by a robot with 3 active DOF’s require an exact knowledge of the point of rotation of the instrument. However, this center of rotation is not fixed and moves during...

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Autores principales:	Rémi Chalard , Afshin Fazel, Marie-Aude Vitrani
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	uterine biopsy probe holder reaching task online identification robotic Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/6ecb7d5b24404cfdabd05704d62a3678
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id	oai:doaj.org-article:6ecb7d5b24404cfdabd05704d62a3678
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spelling	oai:doaj.org-article:6ecb7d5b24404cfdabd05704d62a36782021-11-15T10:25:53ZReal Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice2296-914410.3389/frobt.2021.780505https://doaj.org/article/6ecb7d5b24404cfdabd05704d62a36782021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/frobt.2021.780505/fullhttps://doaj.org/toc/2296-9144In the context of keyhole surgery, and more particularly of uterine biopsy, the fine automatic movements of a surgical instrument held by a robot with 3 active DOF’s require an exact knowledge of the point of rotation of the instrument. However, this center of rotation is not fixed and moves during an examination. This paper deals with a new method of detecting and updating the interaction matrix linking the movements of the robot with the surgical instrument. This is based on the method of updating the Jacobian matrix which is named the “Broyden method”. It is able to take into account body tissue deformations in real time in order to improve the pointing task for automatic movements of a surgical instrument in an unknown environment.Rémi Chalard Afshin FazelMarie-Aude VitraniFrontiers Media S.A.articleuterine biopsyprobe holderreaching taskonline identificationroboticMechanical engineering and machineryTJ1-1570Electronic computers. Computer scienceQA75.5-76.95ENFrontiers in Robotics and AI, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	uterine biopsy probe holder reaching task online identification robotic Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
spellingShingle	uterine biopsy probe holder reaching task online identification robotic Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Rémi Chalard Afshin Fazel Marie-Aude Vitrani Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice
description	In the context of keyhole surgery, and more particularly of uterine biopsy, the fine automatic movements of a surgical instrument held by a robot with 3 active DOF’s require an exact knowledge of the point of rotation of the instrument. However, this center of rotation is not fixed and moves during an examination. This paper deals with a new method of detecting and updating the interaction matrix linking the movements of the robot with the surgical instrument. This is based on the method of updating the Jacobian matrix which is named the “Broyden method”. It is able to take into account body tissue deformations in real time in order to improve the pointing task for automatic movements of a surgical instrument in an unknown environment.
format	article
author	Rémi Chalard Afshin Fazel Marie-Aude Vitrani
author_facet	Rémi Chalard Afshin Fazel Marie-Aude Vitrani
author_sort	Rémi Chalard
title	Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice
title_short	Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice
title_full	Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice
title_fullStr	Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice
title_full_unstemmed	Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice
title_sort	real time estimator to perform targeted biopsies with a free-wrist robot despite large deformations of the insertion orifice
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/6ecb7d5b24404cfdabd05704d62a3678
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Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice

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