Interactive robots for medical applications
Over the last two decades, medical robotics has evolved from the adaptation of industrial robots to medical tasks to a specific domain of robotics requiring the development of innovative architectures and control modes. In particular, robots enabling coop
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Interactive robots for medical applications Jocelyne Troccaz, Peter Berkelman, Philippe Cinquin, Adriana Vilchis-Gonzales TIMC/IMAG Laboratory Faculte de Medecine - Domaine de la Merci - 38706 La Tronche cedex - France joce lyne. [email protected]
Abstract Over the last two decades, medical robotics has evolved from the adaptation of industrial robots to medical tasks to a specific domain of robotics requiring the development of innovative architectures and control modes. In particular, robots enabling cooperation with the physician are being developed. We name them interactive robots. In this paper, we will present three examples of such robots: PADyC is a passive system which constrains the motions of the surgical tool held by the clinical operator in function of the surgical task; TER and PER which are two low weight, compliant robots respectively dedicated to tele-echography and endoscopy. Keywords: Robotics, man/machine cooperation, computer-aided medical interventions
1. Introduction Classical taxonomies in medical robotics distinguish three categories of guiding systems for computer-aided surgery: active, passive and semi-active systems. In this division, the degree of passivity corresponds to the type of interaction between the human and the device. Passive systems such as [1,2] display information to the surgeon about the position of the surgical tool relative to anatomical data or to a pre-planned strategy. The surgeon is totally responsible for the execution of the surgical action. Active systems realize a part of the intervention autonomously. A robot may machine a bone, or hold a sensor or a surgical tool without the need for interaction with a human operator who generally supervises the action. See for instance [3]. A semi-active system involves a combined action with the human operator for the complete realization of the task. A mechanical guide brought in position by a robot [4] or manually [5] may align a linear drilling trajectory that the surgeon will execute. This type of systems allows an ergonomic, direct and accurate transfer of the surgical planning to the operating site. Nevertheless, they are restricted to rather elementary tasks such as linear motions and planar cuts. Moreover, this transfer is implemented using task-specific hardware; this hardware may be considered as the implementation of a mechanical constraint, Two other types of systems have been introduced more recently: Synergistic systems are intended for direct physical guidance of a surgical tool, a tool that is also held and controlled directly by a surgeon [6]. The concrete objective is to build general-purpose mechanical devices to be held by the surgeon's hand which allow him to feel the virtual world of patient data (including safety regions around
CARS 2002 - H.u. Lemke, M. W. Vannier; K. Inamura, A.C. Farman, K. Doi & J.H.c. Reiber (Editors) 'CARS/Springer. All rights reserved.
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anatomical obstacles to be avoided) and of surgical strategies, while moving in the real world. This is a generalization of semi-act
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