RCM Constraint-Based Trajectory Planning for Robotic Arm-Assisted Transnasal Surgery

摘要

Robot-assisted surgery has gained significant popularity in the field of nasal surgery due to the complexity of nasal surgery and the limitation of surgical workspace. In transnasal surgery, the surgical instrument is constrained to movement and rotation around the fixed point of the incision, with lateral motion disallowed, thereby satisfying the Remote Center of Motion (RCM) constraint. In this paper, a transnasal surgery scenario map is constructed to satisfy the RCM constraints and plan a trajectory for the surgery robotic arm. First, a raster map is generated based on CT images of the patient’s head. Subsequently, a collision-free path within the map is planned using the rapid exploration random tree star (RRT*) algorithm. Finally, the imposition of RCM constraints is accomplished through an inverse kinematics analysis of the planned path points, to calculate the joint angles for the robotic arm to regulate its motion. The experimental results show that the proposed method has good stability and maneuverability, providing a feasible robot-assisted solution for nasal surgery.