Image-guided robotic mastoidectomy using human-robot collaboration control
- Title
- Image-guided robotic mastoidectomy using human-robot collaboration control
- Author
- 이병주
- Keywords
- Admittance control; Image-guided navigation; Mastoidectomy; Warning system
- Issue Date
- 2011-08
- Publisher
- IEEE
- Citation
- 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, article no. 5985720, Page. 549-554
- Abstract
- This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy. © 2011 IEEE.
- URI
- https://ieeexplore.ieee.org/document/5985720https://repository.hanyang.ac.kr/handle/20.500.11754/181068
- ISSN
- 2152-7431;2152-744X
- DOI
- 10.1109/ICMA.2011.5985720
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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