Online Payload Identification of a Franka Emika Robot for Medical Applications

Salah, Souad; Sandoval, Juan; Ghiss, Moncef; Laribi, Med Amine; Zeghloul, S.

doi:10.1007/978-3-030-48989-2_15

Cited by 5 publications

(1 citation statement)

References 7 publications

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“…For this purpose, an identification procedure, proposed by [19] and based on least-squares estimation, was exploited comparing the joint torques provided by the cobot to execute the same trajectory for two different conditions: with and without the tool attached to the robotic arm. This method has previously been validated on Franka Emika robots by Salah et al [20].…”

Section: Fig 4 (A)-(b) Cad Models Of the Two Configurations Of The To...mentioning

confidence: 99%

Comanipulation Robotic Platform for Spine Surgery With Exteroceptive Visual Coupling: Development and Experimentation

Koszulinski

Sandoval

Vendeuvre

et al. 2022

Journal of Medical Devices

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In this paper, a novel surgical robotic platform intended to assist surgeons in cervical spine surgery is presented. The purpose of this surgery is to treat cervical spine instabilities. The surgical procedure requires drilling into specific region of the vertebrae in order to attach spinal implants and ensure a normal spacing between each vertebra. In this context, the proposed robotic platform allows to control and restrict surgeon's movements to a specific drilling direction set by the surgeon. The current platform is composed of a collaborative robot with 7 DoF equipped with a drilling tool and directly comanipulated by the surgeon. A motion capture system, as an exteroceptive sensor device, provides the robot controller with the movement data of the vertebra to be drilled. Robot Operating System (ROS) framework is used to enable real-time communication between the collaborative robot and the visual exteroceptive device. In addition, an implemented compliance control program allows to enhance the safety aspect of the robotic platform. Indeed, the collaborative robot follow the patient's movements while constraining the tool movements to an optimal trajectory as well as a limited drilling depth selected by the surgeon. The robot's elbow movements are also restricted by exploiting the null-space in order to avoid collisions with other equipment or medical team members. Experimental drilling trials have been performed by an orthopedic surgeon to validate the usefulness and different functionalities of the developed robotic platform, and provide that a collaborative robot can comply with spine surgery procedure.

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Section: Fig 4 (A)-(b) Cad Models Of the Two Configurations Of The To...mentioning

confidence: 99%