Ⅰ. Introduction 1 1.1 Backgrounds and Limitations 1 1.1.1 Robot-assisted Minimally Invasive Surgery 1 1.1.2 Registration 2 1.1.3 Perception of Problem 2 1.2 Necessity and Purpose of This Research 3 1.3 Structure of Thesis 4 Ⅱ. Method 5 2.1 Acquisition of Minimum Sampling Point Cloud using Teleoperation with Impedance and RCM Constraint Control 5 2.1.1 Teleoperation master – slave system 7 2.1.2 Impedance control 9 2.1.3 Remote center of motion constraint control 11 2.1.4 Control architecture 15 2.2 Surface Reconstruction based on Minimum Sampling Point Cloud using Point2Mesh Deep Learning Algorithm 16 2.2.1 Initial deformable mesh generation using ball pivoting algorithm 16 2.2.2 Point2Mesh: A Self-Prior for Deformable Meshes 18 2.3 Tool Path Generation for Autonomous Treatment using Reconstructed Surface 21 2.4 Impedance Estimation using Reconstructed Surface Information 23 Ⅲ. Experimental Results 26 3.1 Acquisition of Minimum Sampling Point Cloud using Teleoperation with Impedance and RCM Constraint Control 26 3.2 Surface Reconstruction based on Minimum Sampling Point Cloud using Point2Mesh Deep Learning Algorithm 30 3.3 Tool Path Generation for Autonomous Treatment using Reconstructed Surface 35 3.4 Impedance Estimation using Reconstructed Surface Information 37 3.5 Discussion 39 Ⅳ. Conclusion & Future Works 40 4.1 Conclusion 40 4.2 Future Works 41
