NDLI: Performance of Surgical Robots with Automatically Generated Spatial Virtual Fixtures

Content Provider	IEEE Xplore Digital Library
Author	Ming Li Taylor, R.H.
Copyright Year	2005
Description	Author affiliation: Department of Computer Science NSF Engineering Research Center for Computer Integrated Surgical Systems and Technology The Johns Hopkins University Baltimore, Maryland 21218, USA liming@cs.jhu.edu (Ming Li)
Abstract	Our recent work on robotic surgical assistant systems has led us to develop a method to generate spatial motion constraints associated with complex 3D geometry for controlling a robot in a complicated working configuration. An application of specific interest is sinus surgery, in which complicated anatomic structure constrains the motion of the endoscope and other instruments, which are inserted through the nose into a sinus cavity. We have implemented this method in both hands-on cooperative operation and teleoperation control mode. We evaluate and compare user performance in these two operation modes. We show that cooperative operation is more intuitive for the user and easier to use. On the other hand, due to the robot stiffness of our current implementation, teleoperation mode shows more accurate. Both of these two robot-assisted modes significantly improve human’s performance compared to the totally freehand motion.
Starting Page	217
Ending Page	222
File Size	319287
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570122
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Medical robotics Fixtures Robotics and automation Surgery Computational geometry Automatic generation control Motion control Robot control Control systems Endoscopes virtual fixture geometric constrain optimization robot control performance analysis
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Performance of surgical robots with automatically generated spatial virtual fixtures.

Spatial motion constraints in medical robot using virtual fixtures generated by anatomy

Automatic generation of behaviors for mobile robot by GA with automatically generated action rule-base

Controlling miniature robotic systems in minimally invasive surgery

A constrained optimization approach to virtual fixtures

Spatial Motion Constraints Using Virtual Fixtures Generated by Anatomy

Context Orientated Motion Generation: A New Scheme for Humanoid Robot Control

A constrained optimization approach to virtual fixtures

Motion generation for humanoid robots with automatically derived behaviors

Performance of Surgical Robots with Automatically Generated Spatial Virtual Fixtures

Similar Documents

Performance of surgical robots with automatically generated spatial virtual fixtures.

Spatial motion constraints in medical robot using virtual fixtures generated by anatomy

Automatic generation of behaviors for mobile robot by GA with automatically generated action rule-base

Controlling miniature robotic systems in minimally invasive surgery

A constrained optimization approach to virtual fixtures

Spatial Motion Constraints Using Virtual Fixtures Generated by Anatomy

Context Orientated Motion Generation: A New Scheme for Humanoid Robot Control

A constrained optimization approach to virtual fixtures

Motion generation for humanoid robots with automatically derived behaviors

Performance of Surgical Robots with Automatically Generated Spatial Virtual Fixtures