Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.
Identifieur interne : 001564 ( PubMed/Curation ); précédent : 001563; suivant : 001565Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.
Auteurs : R A Castillo Cruces [Allemagne] ; J. WahrburgSource :
- The international journal of medical robotics + computer assisted surgery : MRCAS [ 1478-596X ] ; 2007.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Robotics, Surgery, Computer-Assisted.
- methods : Surgery, Computer-Assisted.
- Equipment Design, Equipment Failure Analysis, Equipment Safety, Man-Machine Systems, Touch, User-Computer Interface.
Abstract
This paper presents the ongoing results of an effort to achieve the integration of a navigated cooperative robotic arm into computer-assisted orthopaedic surgery. A seamless integration requires the system acting in direct cooperation with the surgeon instead of replacing him.
DOI: 10.1002/rcs.156
PubMed: 17948919
Links toward previous steps (curation, corpus...)
- to stream PubMed, to step Corpus: Pour aller vers cette notice dans l'étape Curation :001564
Links to Exploration step
pubmed:17948919Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.</title><author><name sortKey="Cruces, R A Castillo" sort="Cruces, R A Castillo" uniqKey="Cruces R" first="R A Castillo" last="Cruces">R A Castillo Cruces</name><affiliation wicri:level="1"><nlm:affiliation>Centre of Sensor Systems (ZESS), University of Siegen, Germany.</nlm:affiliation><country xml:lang="fr">Allemagne</country><wicri:regionArea>Centre of Sensor Systems (ZESS), University of Siegen</wicri:regionArea></affiliation></author><author><name sortKey="Wahrburg, J" sort="Wahrburg, J" uniqKey="Wahrburg J" first="J" last="Wahrburg">J. Wahrburg</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2007">2007</date><idno type="doi">10.1002/rcs.156</idno><idno type="RBID">pubmed:17948919</idno><idno type="pmid">17948919</idno><idno type="wicri:Area/PubMed/Corpus">001564</idno><idno type="wicri:Area/PubMed/Curation">001564</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.</title><author><name sortKey="Cruces, R A Castillo" sort="Cruces, R A Castillo" uniqKey="Cruces R" first="R A Castillo" last="Cruces">R A Castillo Cruces</name><affiliation wicri:level="1"><nlm:affiliation>Centre of Sensor Systems (ZESS), University of Siegen, Germany.</nlm:affiliation><country xml:lang="fr">Allemagne</country><wicri:regionArea>Centre of Sensor Systems (ZESS), University of Siegen</wicri:regionArea></affiliation></author><author><name sortKey="Wahrburg, J" sort="Wahrburg, J" uniqKey="Wahrburg J" first="J" last="Wahrburg">J. Wahrburg</name></author></analytic><series><title level="j">The international journal of medical robotics + computer assisted surgery : MRCAS</title><idno type="eISSN">1478-596X</idno><imprint><date when="2007" type="published">2007</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Equipment Design</term><term>Equipment Failure Analysis</term><term>Equipment Safety</term><term>Man-Machine Systems</term><term>Robotics (instrumentation)</term><term>Surgery, Computer-Assisted (instrumentation)</term><term>Surgery, Computer-Assisted (methods)</term><term>Touch</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Equipment Design</term><term>Equipment Failure Analysis</term><term>Equipment Safety</term><term>Man-Machine Systems</term><term>Touch</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper presents the ongoing results of an effort to achieve the integration of a navigated cooperative robotic arm into computer-assisted orthopaedic surgery. A seamless integration requires the system acting in direct cooperation with the surgeon instead of replacing him.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">17948919</PMID><DateCreated><Year>2008</Year><Month>01</Month><Day>23</Day></DateCreated><DateCompleted><Year>2008</Year><Month>02</Month><Day>11</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">1478-596X</ISSN><JournalIssue CitedMedium="Internet"><Volume>3</Volume><Issue>4</Issue><PubDate><Year>2007</Year><Month>Dec</Month></PubDate></JournalIssue><Title>The international journal of medical robotics + computer assisted surgery : MRCAS</Title><ISOAbbreviation>Int J Med Robot</ISOAbbreviation></Journal><ArticleTitle>Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.</ArticleTitle><Pagination><MedlinePgn>316-22</MedlinePgn></Pagination><Abstract><AbstractText Label="BACKGROUND" NlmCategory="BACKGROUND">This paper presents the ongoing results of an effort to achieve the integration of a navigated cooperative robotic arm into computer-assisted orthopaedic surgery. A seamless integration requires the system acting in direct cooperation with the surgeon instead of replacing him.</AbstractText><AbstractText Label="METHODS" NlmCategory="METHODS">Two technical issues are discussed to improve the haptic operating modes for interactive robot guidance. The concept of virtual fixtures is used to restrict the range of motion of the robot according to pre-operatively defined constraints, and methodologies to assure a robust and accurate motion through singular arm configurations are investigated.</AbstractText><AbstractText Label="RESULTS" NlmCategory="RESULTS">A new method for handling singularities is proposed, which is superior to the commonly used damped-least-squares method. It produces no deviations of the end-effector in relation to the virtually constrained path.</AbstractText><AbstractText Label="CONCLUSIONS" NlmCategory="CONCLUSIONS">A solution to assure a good performance of a hands-on robotic arm at singularity configurations is proposed.</AbstractText><CopyrightInformation>(c) 2007 John Wiley & Sons, Ltd.</CopyrightInformation></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Cruces</LastName><ForeName>R A Castillo</ForeName><Initials>RA</Initials><AffiliationInfo><Affiliation>Centre of Sensor Systems (ZESS), University of Siegen, Germany.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Wahrburg</LastName><ForeName>J</ForeName><Initials>J</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D023362">Evaluation Studies</PublicationType><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>Int J Med Robot</MedlineTA><NlmUniqueID>101250764</NlmUniqueID><ISSNLinking>1478-5951</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019544">Equipment Failure Analysis</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004869">Equipment Safety</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D008328">Man-Machine Systems</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="N" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D014110">Touch</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D014584">User-Computer Interface</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="pubmed"><Year>2007</Year><Month>10</Month><Day>24</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2008</Year><Month>2</Month><Day>12</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2007</Year><Month>10</Month><Day>24</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1002/rcs.156</ArticleId><ArticleId IdType="pubmed">17948919</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PubMed/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001564 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PubMed/Curation/biblio.hfd -nk 001564 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PubMed
|étape= Curation
|type= RBID
|clé= pubmed:17948919
|texte= Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/PubMed/Curation/RBID.i -Sk "pubmed:17948919" \
| HfdSelect -Kh $EXPLOR_AREA/Data/PubMed/Curation/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |