Visual servoing with an optical tracking system and a lightweight robot for laser osteotomy

Stein, D. L.; Mönnich, Holger; Raczkowsky, Jörg; Wörn, Heinz

doi:10.1109/icca.2009.5410620

Cited by 11 publications

(9 citation statements)

References 8 publications

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“…The SV damping modulation criterion of the proposed controller was experimentally evaluated using the LWR4+ (Kuka, Augsburg, Germany), a seven-degrees-of-freedom flexible joint manipulator with joint torque sensors, which features 0.05mm repeatability (as per datasheet) and ≈1mm accuracy [34]. The effectiveness of the proposed SV damping controller was evaluated with respect to two constant isotropic damping controllers:…”

Section: Experimental Protocolmentioning

confidence: 99%

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

Beretta

Momi

Baena

et al. 2015

International Journal of Advanced Robotic Systems

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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/s 2 ) 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 imageguided navigational system.

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Section: Experimental Protocolmentioning

confidence: 99%

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

Beretta

Momi

Baena

et al. 2015

International Journal of Advanced Robotic Systems

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“…A Cartesian torque‐based impedance controller was implemented for the light weight robot LWR4+ (Kuka, Augsburg, Germany), a 7 degrees‐of‐freedom (DoFs) flexible joint manipulator, which features 0.05 mm repeatability (as per datasheet) and ≈ 1 mm accuracy . In order to manage the kinematic redundancy, the Cartesian impedance controller is combined with a damped posture strategy, with hierarchical task prioritization approach .…”

Section: Methodsmentioning

confidence: 99%

Enhanced torque‐based impedance control to assist brain targeting during open‐skull neurosurgery: a feasibility study

Beretta

Nessi

Ferrigno

et al. 2015

Robotics Computer Surgery

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“… and Stein et al . studied the application of optical tracking using the ART optical tracking system, for laser osteotomy with respiratory motion compensation.…”

Section: Methodsmentioning

confidence: 99%