A six‐degree‐of‐freedom passive arm with dynamic constraints (PADyC) for cardiac surgery application: Preliminary experiments
Identifieur interne : 000A54 ( France/Analysis ); précédent : 000A53; suivant : 000A55A six‐degree‐of‐freedom passive arm with dynamic constraints (PADyC) for cardiac surgery application: Preliminary experiments
Auteurs : Olivier Schneider [France] ; Jocelyne Troccaz [France]Source :
- Computer Aided Surgery [ 1092-9088 ] ; 2001.
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Abstract
The purpose of Computer‐Assisted Surgery (CAS) is to help physicians and surgeons plan and execute optimal strategies from multimodal image data. The execution of such planned strategies may be assisted by guidance systems. Some of these systems, called synergistic systems, are based on the cooperation of a robotic device with a human operator. We have developed such a synergistic device: PADyC (Passive Arm with Dynamic Constraints). The basic principle of PADyC is to have a manually actuated arm that dynamically constrains the authorized motions of the surgical tool held by the human operator during a planned task. Dynamic constraints are computed from the task definition, and are implemented by a patented mechanical system. In this paper, we first introduce synergistic systems and then focus on modeling and algorithmic issues related to the dynamic constraints. Finally, we describe a 6‐degree‐of‐freedom prototype robot designed for a clinical application (cardiac surgery) and report on preliminary experiments to date. The experimental results are then discussed, and future work is proposed. Comp Aid Surg 6:340–351 (2001). © 2002 Wiley‐Liss, Inc.
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DOI: 10.1002/igs.10020
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ISTEX:94BE86BCCB582C6E9770A55604219417672A78A7Le document en format XML
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Aided Surg.</title><idno type="ISSN">1092-9088</idno><idno type="eISSN">1097-0150</idno><imprint><publisher>Wiley Subscription Services, Inc., A Wiley Company</publisher><pubPlace>New York</pubPlace><date type="published" when="2001">2001</date><biblScope unit="volume">6</biblScope><biblScope unit="issue">6</biblScope><biblScope unit="page" from="340">340</biblScope><biblScope unit="page" to="351">351</biblScope></imprint><idno type="ISSN">1092-9088</idno></series><idno type="istex">94BE86BCCB582C6E9770A55604219417672A78A7</idno><idno type="DOI">10.1002/igs.10020</idno><idno type="ArticleID">IGS10020</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">1092-9088</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>cardiac surgery</term><term>computer‐assisted surgery</term><term>man/robot cooperation</term><term>medical robotics</term><term>synergistic devices</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The purpose of Computer‐Assisted Surgery (CAS) is to help physicians and surgeons plan and execute optimal strategies from multimodal image data. The execution of such planned strategies may be assisted by guidance systems. Some of these systems, called synergistic systems, are based on the cooperation of a robotic device with a human operator. We have developed such a synergistic device: PADyC (Passive Arm with Dynamic Constraints). The basic principle of PADyC is to have a manually actuated arm that dynamically constrains the authorized motions of the surgical tool held by the human operator during a planned task. Dynamic constraints are computed from the task definition, and are implemented by a patented mechanical system. In this paper, we first introduce synergistic systems and then focus on modeling and algorithmic issues related to the dynamic constraints. Finally, we describe a 6‐degree‐of‐freedom prototype robot designed for a clinical application (cardiac surgery) and report on preliminary experiments to date. The experimental results are then discussed, and future work is proposed. Comp Aid Surg 6:340–351 (2001). © 2002 Wiley‐Liss, Inc.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Auvergne-Rhône-Alpes</li><li>Rhône-Alpes</li></region><settlement><li>Grenoble</li></settlement><orgName><li>Université Joseph Fourier</li></orgName></list><tree><country name="France"><region name="Auvergne-Rhône-Alpes"><name sortKey="Schneider, Olivier" sort="Schneider, Olivier" uniqKey="Schneider O" first="Olivier" last="Schneider">Olivier Schneider</name></region><name sortKey="Troccaz, Jocelyne" sort="Troccaz, Jocelyne" uniqKey="Troccaz J" first="Jocelyne" last="Troccaz">Jocelyne Troccaz</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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