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    • Point-Based 3D Virtual Fixture Generating for Image-Guided and Robot-Assisted Surgery in Orthopedics.

    Teng Li,Armin Badre,Hamid D. Taghirad,Mahdi Tavakoli

    2023 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, AIM（2023）

    Univ Alberta

    Cited 0|Views2
    Abstract
    Virtual fixture (VF) has been playing a vital role in robot-assisted surgeries, such as guiding surgical tools’ movement and protecting a beating heart. In orthopedic surgery, preplanned images are often used in the operating room, on which planning curves might be drawn, for instance, to mark out the boundaries for osteophytes to be removed. These curves can be used to generate VF to assist in removing osteophytes during the operation. A challenge is that the hand-drawn curves usually have a random shape and cannot be mathematically represented by equations, thus most of the existing algorithms will not work in this scenario. In this paper, an algorithm of VF generating based on point clouds is presented, with which VF can be generated directly from cloud points, for example, point clouds of hand-drawn curves extracted from an image. The effectiveness of the VF algorithm is evaluated by a series of simulations and experiments. The VF algorithm is also tested in an image-based scenario and its effectiveness is demonstrated. The presented point-based VF algorithm is promising to be used in various applications in image-guided surgery to generate VF for objects with various shapes.
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    Visual Servoing,Human-Machine Collaboration,Virtual Environments
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