Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 |
| Pages | 4179-4186 |
| Number of pages | 8 |
| Publication status | Published - 2006 |
| Externally published | Yes |
| Event | 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 15 May 2006 → 19 May 2006 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| Volume | 2006 |
| ISSN (Print) | 1050-4729 |
Abstract
This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (<10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose of the robot tool-center point is tracked by an optical navigation system, serving as an external reference source. Therefore, it is possible to measure and to compensate deviations between the intraoperative and the preoperatively planned pose. The robotic arm itself is impedance controlled. This allows for a new intuitive manmachine-interface as the joint units are equipped with torque sensors: the robot can be moved just by pulling/pushing its structure. The surgeon has full control of the robot at every step of the intervention. The hand-eye-coordination problems known from manual pedicle screw placement can be omitted.
Keywords
- Hands on robotics, Impedance control, Navigation, Pedicle screw, Robotic surgery, Soft robotics
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Electrical and Electronic Engineering
Cite this
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Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 4179-4186 1642345 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A Hands-On-Robot for Accurate Placement of Pedicle Screws
AU - Ortmaier, T.
AU - Weiss, H.
AU - Hagn, U.
AU - Grebenstein, M.
AU - Nicki, M.
AU - Albu-Schäffer, A.
AU - Ott, C.
AU - Jörg, S.
AU - Konietschke, R.
AU - Le-Tien, Luc
AU - Hirzinger, G.
PY - 2006
Y1 - 2006
N2 - This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (<10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose of the robot tool-center point is tracked by an optical navigation system, serving as an external reference source. Therefore, it is possible to measure and to compensate deviations between the intraoperative and the preoperatively planned pose. The robotic arm itself is impedance controlled. This allows for a new intuitive manmachine-interface as the joint units are equipped with torque sensors: the robot can be moved just by pulling/pushing its structure. The surgeon has full control of the robot at every step of the intervention. The hand-eye-coordination problems known from manual pedicle screw placement can be omitted.
AB - This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (<10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose of the robot tool-center point is tracked by an optical navigation system, serving as an external reference source. Therefore, it is possible to measure and to compensate deviations between the intraoperative and the preoperatively planned pose. The robotic arm itself is impedance controlled. This allows for a new intuitive manmachine-interface as the joint units are equipped with torque sensors: the robot can be moved just by pulling/pushing its structure. The surgeon has full control of the robot at every step of the intervention. The hand-eye-coordination problems known from manual pedicle screw placement can be omitted.
KW - Hands on robotics
KW - Impedance control
KW - Navigation
KW - Pedicle screw
KW - Robotic surgery
KW - Soft robotics
UR - http://www.scopus.com/inward/record.url?scp=33845614973&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642345
DO - 10.1109/ROBOT.2006.1642345
M3 - Conference contribution
AN - SCOPUS:33845614973
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4179
EP - 4186
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -