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A Steady-Hand Robotic System for Microsurgical Augmentation

Identifieur interne : 008B09 ( Main/Merge ); précédent : 008B08; suivant : 008B10

A Steady-Hand Robotic System for Microsurgical Augmentation

Auteurs : Russell Taylor [États-Unis] ; Patrick Jensen [États-Unis] ; Louis Whitcomb [États-Unis] ; Aaron Barnes [États-Unis] ; Rajesh Kumar [États-Unis] ; Dan Stoianovici [États-Unis] ; Puneet Gupta [États-Unis] ; Zhengxian Wang [États-Unis] ; Eugene Dejuan [États-Unis] ; Louis Kavoussi [États-Unis]

Source :

Lecture Notes in Computer Science [ 0302-9743 ] ; 1999.

RBID : ISTEX:5D93592C82DCE20C74A61A566C736CCED883B922

Abstract

Abstract: 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 judgement, 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 handheld tools for tasks characterized by compliant or semi-rigid contacts with the environment.

Url:

https://api.istex.fr/document/5D93592C82DCE20C74A61A566C736CCED883B922/fulltext/pdf

DOI: 10.1007/10704282_112

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ISTEX:5D93592C82DCE20C74A61A566C736CCED883B922

Le document en format XML

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<front><div type="abstract" xml:lang="en">Abstract: 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 judgement, 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 handheld tools for tasks characterized by compliant or semi-rigid contacts with the environment.</div>
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A Steady-Hand Robotic System for Microsurgical Augmentation

A Steady-Hand Robotic System for Microsurgical Augmentation

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Abstract

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