Adaptive Hands-On Control for Reaching and Targeting Tasks in Surgery

Cooperatively controlled robotic assistants can be used in surgery for the repetitive execution of targeting/reaching tasks, which require smooth motions and accurate placement of a tool inside a working area. A variable damping controller, based on a priori knowledge of the location of the surgical...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2015-05, Vol.12 (5)
Main Authors: Beretta, Elisa, De Momi, Elena, Rodriguez y Baena, Ferdinando, Ferrigno, Giancarlo
Format: Article
Language:English
Subjects:
Acceleration
Accuracy
Adaptive control
Constants
Controllers
Cooperation
Damping
Human engineering
Human performance
Neurosurgery
Performance evaluation
Robotic surgery
Robotics
Robots
Surgery
Tasks
Trajectories
Weight reduction
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Summary:Cooperatively controlled robotic assistants can be used in surgery for the repetitive execution of targeting/reaching tasks, which require smooth motions and accurate placement of a tool inside a working area. A variable damping controller, based on a priori knowledge of the location of the surgical site, is proposed to enhance the physical human-robot interaction experience. The performance of this and of typical constant damping controllers is comparatively assessed using a redundant light-weight robot. Results show that it combines the positive features of both null (acceleration capabilities > 0.8m/s2) and optimal (mean pointing error < 1.5mm) constant damping controllers, coupled with smooth and intuitive convergence to the target (direction changes reduced by 30%), which ensures that assisted tool trajectories feel natural to the user. An application scenario is proposed for brain cortex stimulation procedures, where the surgeon's intentions of motion are explicitly defined intra-operatively through an image-guided navigational system.
ISSN:1729-8806
1729-8814
DOI:10.5772/60130