{"title":"Online occlusion-free optimization scheme for active optical navigation system in robotic orthopedic surgeries","authors":"Mengde Luo , Yanding Qin , Jianda Han","doi":"10.1016/j.conengprac.2024.105948","DOIUrl":null,"url":null,"abstract":"<div><p>In robotic orthopedic surgeries, the intraoperative optical tracking system (OTS) is widely used to obtain the spatial relationship between the patient's lesion and surgical instrument via the use of positioning tools. Usually, the OTS remains stationary during surgery. If the line of sight (LoS) occlusion occurs, the surgery will be interrupted. To address this issue, this paper proposes a novel optimization scheme to proactively adjust the OTS viewpoint before occlusion occurs, guaranteeing that the LoS remains unobstructed by the occluder. To simplify the analysis process, the excessive number of LoSs from the OTS to the positioning tools are replaced by visual cone (VC) models. Subsequently, an optimization scheme is formulated to generate a desired viewpoint for the OTS and an occlusion-free adjusting trajectory for the navigation robot. Ultimately, the effectiveness of the proposed method is validated via simulations and experiments. Experimental results show that the proposed method is capable of maintaining the occlusion-free between VCs and the occluder as the occluder approaches the VCs. This active navigation technique is promising for the safe operations of robotic orthopedic surgeries.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4000,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering Practice","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0967066124001084","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
In robotic orthopedic surgeries, the intraoperative optical tracking system (OTS) is widely used to obtain the spatial relationship between the patient's lesion and surgical instrument via the use of positioning tools. Usually, the OTS remains stationary during surgery. If the line of sight (LoS) occlusion occurs, the surgery will be interrupted. To address this issue, this paper proposes a novel optimization scheme to proactively adjust the OTS viewpoint before occlusion occurs, guaranteeing that the LoS remains unobstructed by the occluder. To simplify the analysis process, the excessive number of LoSs from the OTS to the positioning tools are replaced by visual cone (VC) models. Subsequently, an optimization scheme is formulated to generate a desired viewpoint for the OTS and an occlusion-free adjusting trajectory for the navigation robot. Ultimately, the effectiveness of the proposed method is validated via simulations and experiments. Experimental results show that the proposed method is capable of maintaining the occlusion-free between VCs and the occluder as the occluder approaches the VCs. This active navigation technique is promising for the safe operations of robotic orthopedic surgeries.
期刊介绍:
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.