A Steady-Hand Robotic System for Microsurgical Augmentation

DOI Web Site 14 Citations
  • Russell Taylor
    Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA
  • Pat Jensen
    Wilmer Eye Institute, Johns Hopkins Medical Institutions, Johns Hopkins University, Baltimore, MD, USA
  • Louis Whitcomb
  • Aaron Barnes
    Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
  • Rajesh Kumar
    Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA
  • Dan Stoianovici
    James Buchanan Brady Urological Institute, Johns Hopkins Medical Institutions, Johns Hopkins University Baltimore, MD, USA
  • Puneet Gupta
    Wilmer Eye Institute, Johns Hopkins Medical Institutions, Johns Hopkins University Baltimore, MD, USA
  • Zhengxian Wang
    Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA
  • Eugene Dejuan
    Wilmer Eye Institute, Johns Hopkins Medical Institutions, Johns Hopkins University Baltimore, MD, USA
  • Louis Kavoussi
    James Buchanan Brady Urological Institute, Johns Hopkins Medical Institutions, Johns Hopkins University Baltimore, MD, USA

Abstract

<jats:p> This paper reports the development of a robotic system designed to extend a human’s ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgment, sensory integration, and hand-eye coordination. Our novel approach, which we call steady-hand micromanipulation, is for tools to be held simultaneously both by the operator’s hand and a specially designed actively controlled robot arm. The robot’s controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of hand-held tools for tasks characterized by compliant or semi-rigid contacts with the environment. </jats:p>

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