Proceedings ArticleDOI
Force sensing and control for a surgical robot
Peter Kazanzides,Joel Zuhars,B.D. Mittelstadt,Russell H. Taylor +3 more
- pp 612-617
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TLDR
The authors describe the use of force feedback in a surgical robot system (ROBODOC), where the robot must prepare a cavity in the femur for an artificial implant, and an intuitive man-machine interface is provided.Abstract:
The authors describe the use of force feedback in a surgical robot system (ROBODOC). The application initially being addressed is total hip replacement (THR) surgery, where the robot must prepare a cavity in the femur for an artificial implant. In this system, force feedback is used to provide safety, tactile search capabilities, and an improved man-machine interface. Output of the force sensor is monitored by a safety processor, which initiates corrective action if any of several application-defined thresholds are exceeded. The robot is able to locate objects using guarded moves and force control (ball-in-cone strategy). In addition, the force control algorithm provides an intuitive man-machine interface which allows the surgeon to guide the robot by leading its tool to the desired location. An application of force control currently under development is described, where the force feedback is used to modify the cutter feed rate (force controlled velocity). >read more
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Journal ArticleDOI
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Medical Robots: Current Systems and Research Directions
TL;DR: By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities of medical robots, for example, increased usage of intraoperative images, improved robot arm design, and haptic feedback to guide the surgeon.
References
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Proceedings ArticleDOI
Experiments in force control of robotic manipulators
J. Maples,J. J. Becker +1 more
TL;DR: A new classification scheme for robotic force control algorithms is presented and it is shown that algorithms can be categorized according to whether they are joint-based or cartesian-based.
Proceedings ArticleDOI
A surgical robot for total hip replacement surgery
H.A. Paul,B. Mittlestadt,William L. Bargar,Bela Musits,Russell H. Taylor,Peter Kazanzides,Joel Zuhars,Bill Williamson,William A. Hanson +8 more
TL;DR: A robotic surgical system that has been designed to create femoral cavities that are precisely shaped and positioned for implantation of uncemented prostheses that exceeds the tolerances to which implants are manufactured, and does not produce gaps that prevent bone ingrowth.
Journal ArticleDOI
An Experimental System for Computer Controlled Mechanical Assembly
P.M. Will,D.D. Grossman +1 more
TL;DR: The software and hardware architecture of a system designed as a research tool for experiments on programming the computer controlled assembly of mechanical objects and the application of the system to sample assemblies is discussed.
Proceedings ArticleDOI
Taming the bull: safety in a precise surgical robot
Russell H. Taylor,H.A. Paul,Peter Kazanzides,B.D. Mittelstadt,William A. Hanson,J. Zuhars,Bill Williamson,Bela Musits,Edward Glassman,William L. Bargar +9 more
TL;DR: An image directed robotic system for orthopaedic bone machining applications, aimed initially at cementless total hip replacement surgery, and a clinical trial in dogs needing such surgery has begun.