NDLI: Dynamic force control for a miniaturised medical robot system

Content Provider	IEEE Xplore Digital Library
Author	Schauer, D. Hein, A. Lueth, T.C.
Copyright Year	2003
Description	Author affiliation: Dept. of Maxillofacial Surgery, Humboldt-Univ., Berlin, Germany (Schauer, D.)
Abstract	The goal of this project was the realisation of an autoclavable mobile miniature robot that can be integrated easily into a standard OR. The new miniature robot consists of an positioning unit with two or four active and two passive axes (position at z-axis and rotation around z-axis). The unit has to be positioned versus the patient under navigation control and is fixed rigidly by a mechanical arm. The system integrates the robots work space and the planning model within an optical and electromechanical controlled execution mode. The miniature robot reaches an absolute accuracy of about 0.5 mm reproducibility equal to competitive navigation and robot assisted systems. Forces of up to 20 N can be generated by the positioning unit while the system stays fixed. The increment interpretation of constant torque impulses permits the quantitative determination of contact forces up to 20 N with a deviation of max. 20 %. The system is fully compatible to the standard OR and its accuracy as well as its stability is high. Due to its transparent system structure and modular concept, the miniature robot can be used within a wide range of medical application.
Sponsorship	IEEE Ind. Electron. Soc.(IES) IEEE Robotics & Autom. Soc. (RAS) ASME Dynamic Syst. & Control Div. (DSC)
Starting Page	1090
Ending Page	1095
File Size	595659
Page Count	6
File Format	PDF
ISBN	0780377591
DOI	10.1109/AIM.2003.1225494
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Medical robotics Orbital robotics Mobile robots Navigation Optical control Biomedical optical imaging Integrated optics Reproducibility of results Torque
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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