A Guiding and Positioning Motion Strategy Based on a New Conical Virtual Fixture for Robot-Assisted Oral Surgery

In robot-assisted oral surgery, the surgical tool needs to be fed into target position perform surgery. However, unmodeled extraoral and complex intraoral environments bring difficulties motion planning. Meanwhile, is operated manually by surgeon, causing relatively limited accuracy as well risk of misoperation. Moreover, random movements patient’s head additional disturbance task. To achieve task, a strategy based on new conical virtual fixture (VF) was proposed. First, preoperatively specifying guiding cone VF, repulsive forces were applied out-of-range end effector. Then, two-point adjustment model velocity conversion, effect VF established prevent end-effector from exceeding constraint region. Finally, vision system corrects compensate for movement feed dynamic target. As an auxiliary framework operation, proposed has advantages safety, accuracy, adaptability. Both simulations experiments are conducted, verifying feasibility strategy.