A Fully Sensorized Cooperative Robotic System for Surgical Interventions

Sensors

Saúl Tovar-Arriaga¹  José Emilio Vargas²  Juan M. Ramos²  Marco A. Aceves²  Efren Gorrostieta² 

[1] Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany; E-Mail:;Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:

关键词: surgical robotics;    robotic needle-placement;    robot-driven C-arm;    light-weight robot;   

DOI  :  10.3390/s120709423

来源: mdpi

【 摘 要 】

In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements.

【 授权许可】

CC BY   
© 2012 by the authors; licensee MDPI, Basel, Switzerland.