Name
Abstract | ||
|---|---|---|
This paper deals with an ongoing research program in robotized reconstructive surgery (especially for skin harvesting) with a mechanical system under force control. The constraints of the process are firstly described in terms of medical and robotic constraints. Then, we present an active mechanical structure which suits to our needs whose interesting features are a simple and closed-form solution to the Inverse Geometnc Model (IGM), the ability to handle the tool without collision and a simple mechanical design. In a third part, we present the application and the controller architecture from a working point of view and the force controller chosen. Finally general and particular safety issues for medical robots are discussed and solutions are presented to turn the application intrinsically safe. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1007/3-540-45468-3_37 | MICCAI |
Keywords | Field | DocType |
mechanical system,controller architecture,simple mechanical design,force controller,closed-form solution,force control,safe methodology,robotize skin harvesting,application intrinsically safe,inverse geometnc model,active mechanical structure,medical robot,mechanical systems,geometric model,closed form solution,mechanism design | Mechanical design,Computer science,SCARA,Control engineering,Artificial intelligence,Computer vision,Control theory,Simulation,Medical robot,Collision,Robot,Mechanical system,Controller architecture | Conference |
ISBN | Citations | PageRank |
3-540-42697-3 | 5 | 0.65 |
References | Authors | |
6 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gilles Duchemin | 1 | 39 | 4.23 |
| Etienne Dombre | 2 | 202 | 21.36 |
| F. Pierrot | 3 | 479 | 92.02 |
| Philippe Poignet | 4 | 517 | 59.75 |
| Eric Dégoulange | 5 | 114 | 14.02 |