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Image-guided robotic mastoidectomy using human-robot collaboration control
- Authors
- Lim, Hoon; Han, Jung min; Hong, Jaesung; Yi, Byung ju; Lee, Seung hwan; Jeong, Jin Hyeok; Matsumoto, Nozomu; Oka, Masamichi; Komune, Shizuo; Hashizume, Makoto
- Issue Date
- Aug-2011
- Publisher
- IEEE
- Keywords
- Admittance control; Image-guided navigation; Mastoidectomy; Warning system
- Citation
- 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp 549 - 554
- Pages
- 6
- Indexed
- SCOPUS
- Journal Title
- 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
- Start Page
- 549
- End Page
- 554
- ISSN
- 2152-7431
2152-744X
- Abstract
- This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy. © 2011 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)