リーマン多様体を用いた手術ロボットの関節空間経路計画
Surgical Robot, Path Planning, Joint Space, Riemannian Manifolds
低侵襲手術ロボットの自動化のため、挿入ポートの制約と臓器の非凸形状を考慮し、位置をリーマン多様体に変換して関節空間で経路計画する手法を提案した。実験で関節角度の可動範囲を削減できることを示した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Yoshiki Yamamoto, Maina Sogabe, Shunichi Hirahara, Toshiki Kaisaki, Tetsuro Miyazaki, Kenji Kawashima
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during operation. Also, the surface of the abdominal cavity is non-concave, making it computationally expensive to find the desired path.In this work, to solve these problems, we propose a method for path planning in joint space by transforming the position into a Riemannian manifold. An edge cost function is defined to search for a desired path in the joint space and reduce the range of motion of the joints. We found that the organ is mostly non-concave, making it easy to find the optimal path using gradient descent method. Experimental results demonstrated that the proposed method reduces the range of joint angle movement compared to calculations in position space.
