{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T00:17:39Z","timestamp":1775607459310,"version":"3.50.1"},"reference-count":24,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2024,1,12]],"date-time":"2024-01-12T00:00:00Z","timestamp":1705017600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"\u201cHuman Space X\u201d Initiative Phase I: Tiantong Multidisciplinary Seed Grant from International Campus of Zhejiang University","award":["K20230399"],"award-info":[{"award-number":["K20230399"]}]},{"name":"Industrial Technology Development Project from Yanjia Technology LTD","award":["K20230399"],"award-info":[{"award-number":["K20230399"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a method for generating dynamic virtual fixtures with real-time 3D image feedback to facilitate human\u2013robot collaboration in medical robotics. Seamless shared control in a dynamic environment, like that of a surgical field, remains challenging despite extensive research on collaborative control and planning. To address this problem, our method dynamically creates virtual fixtures to guide the manipulation of a trocar-placing robot arm using the force field generated by point cloud data from an RGB-D camera. Additionally, the \u201cview scope\u201d concept selectively determines the region for computational points, thereby reducing computational load. In a phantom experiment for robot-assisted port incision in minimally invasive thoracic surgery, our method demonstrates substantially improved accuracy for port placement, reducing error and completion time by 50% (p=1.06\u00d710\u22122) and 35% (p=3.23\u00d710\u22122), respectively. These results suggest that our proposed approach is promising in improving surgical human\u2013robot collaboration.<\/jats:p>","DOI":"10.3390\/s24020492","type":"journal-article","created":{"date-parts":[[2024,1,12]],"date-time":"2024-01-12T11:43:53Z","timestamp":1705059833000},"page":"492","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Dynamic Virtual Fixture Generation Based on Intra-Operative 3D Image Feedback in Robot-Assisted Minimally Invasive Thoracic Surgery"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-3946-7184","authenticated-orcid":false,"given":"Yunze","family":"Shi","sequence":"first","affiliation":[{"name":"ZJU-UIUC Institute, International Campus, Zhejiang University, Haining 314400, China"},{"name":"School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China"}]},{"given":"Peizhang","family":"Zhu","sequence":"additional","affiliation":[{"name":"Flexiv Ltd., Santa Clara, CA 95054, USA"}]},{"given":"Tengyue","family":"Wang","sequence":"additional","affiliation":[{"name":"ZJU-UIUC Institute, International Campus, Zhejiang University, Haining 314400, China"},{"name":"School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-7861-4072","authenticated-orcid":false,"given":"Haonan","family":"Mai","sequence":"additional","affiliation":[{"name":"ZJU-UIUC Institute, International Campus, Zhejiang University, Haining 314400, China"}]},{"given":"Xiyang","family":"Yeh","sequence":"additional","affiliation":[{"name":"Flexiv Ltd., Santa Clara, CA 95054, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3294-0879","authenticated-orcid":false,"given":"Liangjing","family":"Yang","sequence":"additional","affiliation":[{"name":"ZJU-UIUC Institute, International Campus, Zhejiang University, Haining 314400, China"},{"name":"School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China"},{"name":"Department of Mechanical Engineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA"}]},{"given":"Jingfan","family":"Wang","sequence":"additional","affiliation":[{"name":"Flexiv Ltd., Santa Clara, CA 95054, USA"}]}],"member":"1968","published-online":{"date-parts":[[2024,1,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"7989","DOI":"10.1109\/LRA.2021.3100603","article-title":"Autonomy in Physical Human-Robot Interaction: A Brief Survey","volume":"6","author":"Selvaggio","year":"2021","journal-title":"IEEE Robot. 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