A Preliminary Study on Cooperative Force Control based Guidance for Accurate Pre-insertion Positioning of Surgical Instruments
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- E. COLAN ZAITA Jacinto
- Nagoya University
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- SATO Yuichiro
- Nagoya University
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- NAKANISHI Jun
- Nagoya University
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- HASEGAWA Yasuhisa
- Nagoya University
Abstract
<p>This paper presents a force control based cooperative human-robot guidance system for transnasal endoscopic surgery. The aim is to accurately bring a long surgical instrument such as articulated forceps attached to a six degree-of-freedom robotic arm to the desired pre-insertion position. An appropriate orientation and position control is needed to ensure the safety of tool insertion through the narrow nasal cavity. This study explores an approach to providing the surgeon with highly accurate and intuitive operation of a surgical instrument for its pre-positioning. We report our initial development of a cooperative manipulation system and preliminary positioning experiments with an industrial robot arm.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (0), 2A1-O10-, 2017
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282680918375936
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- NII Article ID
- 130006220915
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- ISSN
- 24243124
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- Text Lang
- en
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed