Image-Guided Robotic Mastoidectomy Using Human-Robot Collaboration Control
- Title
- Image-Guided Robotic Mastoidectomy Using Human-Robot Collaboration Control
- Author
- 정진혁
- Keywords
- Robot sensing systems; Bones; Surgery; Robot kinematics; Navigation; Phantoms; Warning system; Mastoidectomy; Admittance control; Image-guided navigation
- Issue Date
- 2011-08
- Publisher
- Institute of Electrical and Electronics Engineers
- Citation
- 2011 IEEE International Conference on Mechatronics and Automation Mechatronics and Automation (ICMA), 2011 International Conference on. :549-554 Aug, 2011
- 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.
- URI
- http://ieeexplore.ieee.org/abstract/document/5985720/
- ISBN
- 978-1-4244-8113-2; 978-1-4244-8114-9; 978-1-4244-8115-6
- ISSN
- 2152-7431
- DOI
- 10.1109/ICMA.2011.5985720
- Appears in Collections:
- COLLEGE OF MEDICINE[S](의과대학) > MEDICINE(의학과) > Articles
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