A Fully Sensorized Cooperative Robotic System for Surgical Interventions
Identifieur interne : 002254 ( Ncbi/Checkpoint ); précédent : 002253; suivant : 002255A Fully Sensorized Cooperative Robotic System for Surgical Interventions
Auteurs : Saúl Tovar-Arriaga ; José Emilio Vargas ; Juan M. Ramos ; Marco A. Aceves ; Efren Gorrostieta ; Willi A. KalenderSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2012.
Abstract
In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements.
Url:
DOI: 10.3390/s120709423
PubMed: 23012551
PubMed Central: 3444109
Affiliations:
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Fully Sensorized Cooperative Robotic System for Surgical Interventions</title><author><name sortKey="Tovar Arriaga, Saul" sort="Tovar Arriaga, Saul" uniqKey="Tovar Arriaga S" first="Saúl" last="Tovar-Arriaga">Saúl Tovar-Arriaga</name><affiliation><nlm:aff id="af1-sensors-12-09423"> Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany; E-Mail:<email>willi.kalender@imp.uni-erlangen.de</email></nlm:aff></affiliation><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Vargas, Jose Emilio" sort="Vargas, Jose Emilio" uniqKey="Vargas J" first="José Emilio" last="Vargas">José Emilio Vargas</name><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Ramos, Juan M" sort="Ramos, Juan M" uniqKey="Ramos J" first="Juan M." last="Ramos">Juan M. Ramos</name><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Aceves, Marco A" sort="Aceves, Marco A" uniqKey="Aceves M" first="Marco A." last="Aceves">Marco A. Aceves</name><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Gorrostieta, Efren" sort="Gorrostieta, Efren" uniqKey="Gorrostieta E" first="Efren" last="Gorrostieta">Efren Gorrostieta</name><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Kalender, Willi A" sort="Kalender, Willi A" uniqKey="Kalender W" first="Willi A." last="Kalender">Willi A. Kalender</name><affiliation><nlm:aff id="af1-sensors-12-09423"> Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany; E-Mail:<email>willi.kalender@imp.uni-erlangen.de</email></nlm:aff></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">23012551</idno><idno type="pmc">3444109</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3444109</idno><idno type="RBID">PMC:3444109</idno><idno type="doi">10.3390/s120709423</idno><date when="2012">2012</date><idno type="wicri:Area/Pmc/Corpus">002492</idno><idno type="wicri:Area/Pmc/Curation">002492</idno><idno type="wicri:Area/Pmc/Checkpoint">001894</idno><idno type="wicri:Area/Ncbi/Merge">002254</idno><idno type="wicri:Area/Ncbi/Curation">002254</idno><idno type="wicri:Area/Ncbi/Checkpoint">002254</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">A Fully Sensorized Cooperative Robotic System for Surgical Interventions</title><author><name sortKey="Tovar Arriaga, Saul" sort="Tovar Arriaga, Saul" uniqKey="Tovar Arriaga S" first="Saúl" last="Tovar-Arriaga">Saúl Tovar-Arriaga</name><affiliation><nlm:aff id="af1-sensors-12-09423"> Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany; E-Mail:<email>willi.kalender@imp.uni-erlangen.de</email></nlm:aff></affiliation><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Vargas, Jose Emilio" sort="Vargas, Jose Emilio" uniqKey="Vargas J" first="José Emilio" last="Vargas">José Emilio Vargas</name><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Ramos, Juan M" sort="Ramos, Juan M" uniqKey="Ramos J" first="Juan M." last="Ramos">Juan M. Ramos</name><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Aceves, Marco A" sort="Aceves, Marco A" uniqKey="Aceves M" first="Marco A." last="Aceves">Marco A. Aceves</name><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Gorrostieta, Efren" sort="Gorrostieta, Efren" uniqKey="Gorrostieta E" first="Efren" last="Gorrostieta">Efren Gorrostieta</name><affiliation><nlm:aff id="af2-sensors-12-09423"> Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico; E-Mails:<email>emilio@mecatronica.net</email> (J.E.V.);<email>jramos@mecamex.net</email> (J.M.R.);<email>marco.aceves@uaq.mx</email> (M.A.A.);<email>efrengorrostieta@gmail.com</email> (E.G.)</nlm:aff></affiliation></author><author><name sortKey="Kalender, Willi A" sort="Kalender, Willi A" uniqKey="Kalender W" first="Willi A." last="Kalender">Willi A. Kalender</name><affiliation><nlm:aff id="af1-sensors-12-09423"> Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany; E-Mail:<email>willi.kalender@imp.uni-erlangen.de</email></nlm:aff></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2012">2012</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Kwoh, Y S" uniqKey="Kwoh Y">Y.S. Kwoh</name></author><author><name sortKey="Hou, J" uniqKey="Hou J">J. Hou</name></author><author><name sortKey="Jonckheere, E A" uniqKey="Jonckheere E">E.A. 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Ramos</name><name sortKey="Tovar Arriaga, Saul" sort="Tovar Arriaga, Saul" uniqKey="Tovar Arriaga S" first="Saúl" last="Tovar-Arriaga">Saúl Tovar-Arriaga</name><name sortKey="Vargas, Jose Emilio" sort="Vargas, Jose Emilio" uniqKey="Vargas J" first="José Emilio" last="Vargas">José Emilio Vargas</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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