Human-guided surgical robot system for spinal fusion surgery: CoRASS
- Authors
- Lee, Jongwon; Kim, Keehoon; Chung, Wan Kyun; Choi, Seungmoon; Kim, Young Soo
- Issue Date
- May-2008
- Publisher
- IEEE
- Citation
- Proceedings - IEEE International Conference on Robotics and Automation, pp.3881 - 3887
- Indexed
- SCOPUS
- Journal Title
- Proceedings - IEEE International Conference on Robotics and Automation
- Start Page
- 3881
- End Page
- 3887
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/178633
- DOI
- 10.1109/ROBOT.2008.4543807
- ISSN
- 1050-4729
- Abstract
- There are two main limitations in the conventional robot-assisted spinal fusion surgery. Since the end effector in the state of art has a role of guiding the insertion pose of a screw only, i) convenience that can be obtained when the robot intervenes in the surgery more actively could be limited. ii) The insertion pose of a screw provided by the robots could be deteriorated by surgeon's resisting force since he should insert a screw with his own hand withstanding the large reaction force transmitted through the drilling handle. To overcome those limitations, this paper proposes a novel approach for spinal fusion, wherein the robot performs the spinal fusion using the equipped end effector following surgeon's guide. We developed a dexterous small-sized the end effector that can perform previous gimleting and screwing tasks into the vertebrae. A five-DOF robot body that has kinematically-closed structure guides the insertion pose of a screw and resists strong reaction force firmly during the screwing process. Based on admittance control framework, the surgeon controls the pose of the end effector precisely to compensate induced static/dynamic errors during the operation. A torque feedback method without torque sensor that suggests the haptic information about the status of drilling is also included. The performance of the CoRASS was verified by experiments.
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