Paper Info
Title
A supervision system for the intuitive usage of a telemanipulated surgical robotic setup
Abstract
This paper introduces the OP:Sense system that is able to track objects and humans and. To reach this goal a complete surgical robotic system is built up that can be used for telemanipulation as well as for autonomous tasks, e.g. cutting or needle-insertion. Two KUKA lightweight robots that feature seven DOF and allow variable stiffness and damping due to an integrated impedance controller are used as actuators. The system includes two haptic input devices for providing haptic feedback in telemanipulation mode as well as including virtual fixtures to guide the surgeon even during telemanipulation mode. The supervision system consists of a marker-based optical tracking system, Photonic Mixer Device cameras (PMD) and rgb-d cameras (Microsoft Kinect). A simulation environment is constantly updated with the model of the environment, the model of the robots and tracked objects, the occupied space as well as tracked models of humans.
Year
DOI
Venue
2011
10.1109/ROBIO.2011.6181327
Robotics and Biomimetics
Keywords
Field
DocType
cameras,haptic interfaces,medical robotics,object tracking,optical tracking,robot vision,surgery,telerobotics,KUKA lightweight robot,Microsoft Kinect,OP sense system,PMD,actuator,autonomous task,damping,haptic feedback,haptic input device,human tracking,impedance controller,marker-based optical tracking system,object tracking,photonic mixer device camera,rgb-d camera,supervision system,surgical robotic system,telemanipulated surgical robotic setup,telemanipulation mode,variable stiffness,virtual fixture
Control engineering,RGB color model,Artificial intelligence,Haptic technology,Computer vision,Control theory,Simulation,Video tracking,Engineering,Robot,Telerobotics,Actuator,Input device
Conference
ISBN
Citations 
PageRank 
978-1-4577-2136-6
4
0.58
References 
Authors
8
4
Name
Order
Citations
PageRank
Holger Mönnich1275.89
Philip Nicolai2145.41
Tim Beyl3134.73
Jorg Raczkowsky4245.49