Supervised control for robot-assisted surgery using augmented reality

Tzu Hsuan Ho, Kai Tai Song*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, we propose an AR-based robotic system that can plan and execute a trajectory based on a 3D medical model and allow the surgeon to supervise the execution of surgical process. In order to achieve image-guided surgery, a hand-eye calibration procedure is developed by using AprilTag to obtain the transformation between the workspace coordinate and the robot coordinate, and perform the image navigation task of the surgical robot to complete a drilling task. A procedure of robot supervised control is proposed to assign or modify the robot trajectory based on AR visualization and 3D model. A specified AR marker is used to project virtual objects in the AR glasses. We developed a robot registration algorithm to match the AR virtual coordinate system and the workspace coordinate system, and convert the planned trajectory into robot trajectory. Experimental results on the lab-built robotic system show that a user can adjust the position and orientation of the insertion point on a bone model, and transmit the trajectory information to the robot for execution. The proposed visualization-based robot navigation method has the potential to enhance the safety of surgical operation.

Original languageEnglish
Title of host publication2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
PublisherIEEE Computer Society
Pages329-334
Number of pages6
ISBN (Electronic)9788993215205
DOIs
StatePublished - 13 Oct 2020
Event20th International Conference on Control, Automation and Systems, ICCAS 2020 - Busan, Korea, Republic of
Duration: 13 Oct 202016 Oct 2020

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2020-October
ISSN (Print)1598-7833

Conference

Conference20th International Conference on Control, Automation and Systems, ICCAS 2020
CountryKorea, Republic of
CityBusan
Period13/10/2016/10/20

Keywords

  • AR technology
  • Robotic surgical navigation
  • Supervised control
  • Surgical robot

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