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This study introduces an energy dissipative Forbidden Region Active Constraints (FRAC) strategy for robot-assisted minimally invasive surgery that effectively accommodates dynamic tissue deformation due to respiratory movements. Utilizing a depth sensing camera and a fine mesh representation with over 122,000 polygons, the method operates at 43.48 Hz and maintains a predefined safety distance during in vitro trajectory tracking experiments. Comparative analyses show that this approach outperforms traditional FRAC methods in robustness and effectiveness while keeping time costs comparable or lower.
An innovative FRAC strategy adapts to dynamic tissue changes, ensuring surgical safety without sacrificing speed or efficiency.
In robot-assisted surgery, Forbidden Region Active Constraints (FRAC) represent a control strategy that helps maintain task safety by generating anisotropic haptic guidance to surgeons. However, several challenges need to be overcome before FRAC can benefit teleoperative surgery in a clinical setting. These challenges include the ability to allow for dynamic tissue deformation, maintain energetic passivity, and speed of implementation, among others. In this study, we propose the pipeline design for an energy dissipative FRAC strategy, which accommodates the dynamic tissue deformation caused by respiratory movements, by utilizing a depth sensing camera. The proposed FRAC strategy adopts a fine mesh representation, with a total number of 122,806 polygons in the case study presented, while running at 43.48 Hz. We designed in vitro trajectory tracking experiments conducted by a “virtual” surgeon to aid quantitative assessment of the method, including its effectiveness in maintaining task safety, which was confirmed by successfully maintaining a pre-defined safety distance across all trials. We also conducted comparative studies to investigate the robustness and time-efficiency of our method against other FRAC methods that rely on simple geometry AC representations. We demonstrate that our method provides a more robust and effective guidance overall, while maintaining comparable, if not lower, time costs.