Towards a companion system for collision avoidance during robot-assisted needle placement

Currle E, Hemm J, Schäfer A, Beckerle P, Horsch J, Stallkamp J, Kühne M (2021)

Publication Type: Journal article

Publication year: 2021

Journal

Current Directions in Biomedical Engineering De Gruyter

Book Volume: 7

Article Number: 20211130

Journal Issue: 1

DOI: 10.1515/cdbme-2021-1027

Abstract

Robotic assistance systems for surgery enable fast and precise interventions with reduced complication rates. However, these benefits are accompanied by a more complex operating room (OR) and the risk of collision with robotic assistance systems. Current strategies for collision avoidance and minimizing possible injuries require the adaptation of robotic trajectories and a computational model of the surroundings. In contrast, this work presents a novel companion system for collision avoidance without influencing robotic trajectories. The companion system consists of a preoperative planning application and an augmented reality application for intraoperative support. The companion system visualizes the workflow within the OR and allows robot movements to be seen virtually, before they are executed by the actual robotic assistance system. Preliminary experiments with users imply that the companion system leads to a positive user experience, enables users to follow a predefined workflow in the OR, but requires further refinement to improve accuracy for practical collision avoidance.

Authors with CRIS profile

Philipp Beckerle Lehrstuhl für Autonome Systeme und Mechatronik

Involved external institutions

Fraunhofer-Institut für Produktionstechnik und Automatisierung (IPA) DE Germany (DE) Deutsche Bahn AG DE Germany (DE)

How to cite

APA:

Currle, E., Hemm, J., Schäfer, A., Beckerle, P., Horsch, J., Stallkamp, J., & Kühne, M. (2021). Towards a companion system for collision avoidance during robot-assisted needle placement. Current Directions in Biomedical Engineering, 7(1). https://doi.org/10.1515/cdbme-2021-1027

MLA:

Currle, Eva, et al. "Towards a companion system for collision avoidance during robot-assisted needle placement." Current Directions in Biomedical Engineering 7.1 (2021).

BibTeX: Download