Foundations of robotics: analysis and control
Foundations of robotics: analysis and control
Robot Analysis and Control
The use of localizers, robots and synergistic devices in CAS
CVRMed-MRCAS '97 Proceedings of the First Joint Conference on Computer Vision, Virtual Reality and Robotics in Medicine and Medial Robotics and Computer-Assisted Surgery
A compact robot for image-guided orthopedic surgery: concept and preliminary results
CVRMed-MRCAS '97 Proceedings of the First Joint Conference on Computer Vision, Virtual Reality and Robotics in Medicine and Medial Robotics and Computer-Assisted Surgery
A Modular Surgical Robotic System for Image Guided Percutaneous Procedures
MICCAI '98 Proceedings of the First International Conference on Medical Image Computing and Computer-Assisted Intervention
A New Laparoscope Manipulator with an Optical Zoom
MICCAI '98 Proceedings of the First International Conference on Medical Image Computing and Computer-Assisted Intervention
A Surgical Planning and Guidance System for High Tibial Osteotomies
MICCAI '98 Proceedings of the First International Conference on Medical Image Computing and Computer-Assisted Intervention
Robot-Assisted Needle Steering Using a Control Theoretic Approach
Journal of Intelligent and Robotic Systems
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This paper describes a robotic workstation for the development of new robot-assisted surgical procedures. This work is motivated by the difficulties and cost associated to the development of surgical robots, often requiring large investments and several re-designs which limit wider use of this technology. The approach presented here consists of using a general purpose robotic workcell to develop the hardware and the surgical aspects of new robot-based surgical systems, before committing to a completely new system design. The workcell is based on a clean room PUMA 260 manipulator, suitably enhanced to expand and improve its capabilities, and on a vision-based operator interface. Two new robot-assisted surgical procedures have been developed and tested using this set-up: percutaneous discectomy and knee osteoctomy. By using the robotic workcell, engineers and surgeons are able to define many aspects of the two procedures, such as surgical gestures, workspace of the robot, and calibration procedures, without incurring a large, up-front investment. First, the article describes the configuration of the workcell, the enhancements to the PUMA manipulator and the surgical procedures developed with this setup. Then the results of the tests and the lessons learned using the workcell are discussed in some detail.