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Visual servoing for motion compensation in robot-assisted orthopaedic surgery
International Congress Series 1281 (2005) 1358
Visual servoing for motion compensation in robot-assisted orthopaedic surgery A. Ranftla,T, H. Bruyninckxb, K. Gadeyneb, J. Vander Slotena, J. De Schutterb a
Department of Mechanical Engineering BMGO, Katholieke Universiteit Leuven, Belgium b Department of Mechanical Engineering PMA, Katholieke Universiteit Leuven, Belgium
Keywords: Dynamic registration; Robot-assisted surgery; Visual servoing
1. Introduction Dynamic registration [1] is an approach by which the spatial relationship between robot tool, anatomical object and pre-operative plan is maintained dynamically during surgical intervention. Unexpected movements of the anatomical object are compensated in real-time by feeding back sensor information to the robot. 2. Methods The dynamic registration is realised by using visual servo control of the robot device during operation. For this purpose two different set-ups are introduced. The first is a combination of an industrial Philips INCA 311 camera with a Sta¨ubli RX130 industrial robot. The second is a 6D measurement system, the K600 DMM of Krypton, which is connected to an XY-table equipped with a real-time controller. The vision system tracks the movement of the anatomical object. This value is used to correct the desired position of the end-effector as defined by the pre-operative plan. This new desired position is compared with the actual position and the error function is controlled by a P-controller. 3. Results/Conclusions A proof of concept is carried out for the two described set-ups. As application the tibia cut of total knee arthroplasty is chosen, which can be simulated as a 2D process. The system with the digital camera can be used for this kind of 2D applications, while the Krypton system can also be applied for 3D tasks and soft tissue surgery because of the possible measurement frequency of up to 1000 Hz for the position of the active markers. With these experiments, the feasibility of the dynamical registration is shown. Sensor information such as vision, as introduced here, can enhance the capability of robot devices in surgery to react on unexpected changes or anatomical specifications during operation. Reference [1] Ranftl, et al., Dynamic registration—motion compensation during robot assisted orthopaedic surgery, Proc. of the Surgetica 2005, (2005 Jan), pp. 201 – 209 (Chambery, France). T Corresponding author. Tel.: +32 16 32 75 34; fax: +32 16 32 79 94. E-mail address: [email protected] (A. Ranftl). 0531-5131/ D 2005 CARS & Elsevier B.V. All rights reserved. doi:10.1016/j.ics.2005.03.091
Visual servoing for motion compensation in robot-assisted orthopaedic surgery A. Ranftla,T, H. Bruyninckxb, K. Gadeyneb, J. Vander Slotena, J. De Schutterb a
Department of Mechanical Engineering BMGO, Katholieke Universiteit Leuven, Belgium b Department of Mechanical Engineering PMA, Katholieke Universiteit Leuven, Belgium
Keywords: Dynamic registration; Robot-assisted surgery; Visual servoing
1. Introduction Dynamic registration [1] is an approach by which the spatial relationship between robot tool, anatomical object and pre-operative plan is maintained dynamically during surgical intervention. Unexpected movements of the anatomical object are compensated in real-time by feeding back sensor information to the robot. 2. Methods The dynamic registration is realised by using visual servo control of the robot device during operation. For this purpose two different set-ups are introduced. The first is a combination of an industrial Philips INCA 311 camera with a Sta¨ubli RX130 industrial robot. The second is a 6D measurement system, the K600 DMM of Krypton, which is connected to an XY-table equipped with a real-time controller. The vision system tracks the movement of the anatomical object. This value is used to correct the desired position of the end-effector as defined by the pre-operative plan. This new desired position is compared with the actual position and the error function is controlled by a P-controller. 3. Results/Conclusions A proof of concept is carried out for the two described set-ups. As application the tibia cut of total knee arthroplasty is chosen, which can be simulated as a 2D process. The system with the digital camera can be used for this kind of 2D applications, while the Krypton system can also be applied for 3D tasks and soft tissue surgery because of the possible measurement frequency of up to 1000 Hz for the position of the active markers. With these experiments, the feasibility of the dynamical registration is shown. Sensor information such as vision, as introduced here, can enhance the capability of robot devices in surgery to react on unexpected changes or anatomical specifications during operation. Reference [1] Ranftl, et al., Dynamic registration—motion compensation during robot assisted orthopaedic surgery, Proc. of the Surgetica 2005, (2005 Jan), pp. 201 – 209 (Chambery, France). T Corresponding author. Tel.: +32 16 32 75 34; fax: +32 16 32 79 94. E-mail address: [email protected] (A. Ranftl). 0531-5131/ D 2005 CARS & Elsevier B.V. All rights reserved. doi:10.1016/j.ics.2005.03.091