Human-guided surgical robot system for spinal fusion surgery: CoRASS
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Jongwon | - |
dc.contributor.author | Kim, Keehoon | - |
dc.contributor.author | Chung, Wan Kyun | - |
dc.contributor.author | Choi, Seungmoon | - |
dc.contributor.author | Kim, Young Soo | - |
dc.date.accessioned | 2022-12-21T03:06:13Z | - |
dc.date.available | 2022-12-21T03:06:13Z | - |
dc.date.created | 2022-09-16 | - |
dc.date.issued | 2008-05 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/178633 | - |
dc.description.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. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Human-guided surgical robot system for spinal fusion surgery: CoRASS | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Kim, Young Soo | - |
dc.identifier.doi | 10.1109/ROBOT.2008.4543807 | - |
dc.identifier.scopusid | 2-s2.0-51649104385 | - |
dc.identifier.bibliographicCitation | Proceedings - IEEE International Conference on Robotics and Automation, pp.3881 - 3887 | - |
dc.relation.isPartOf | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.citation.title | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.citation.startPage | 3881 | - |
dc.citation.endPage | 3887 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Computer networks | - |
dc.subject.keywordPlus | Fusion reactions | - |
dc.subject.keywordPlus | Helium | - |
dc.subject.keywordPlus | Industrial engineering | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Sensor data fusion | - |
dc.subject.keywordPlus | Surgery | - |
dc.subject.keywordPlus | Transplantation (surgical) | - |
dc.subject.keywordPlus | Spinal fusion | - |
dc.subject.keywordPlus | End effectors | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/4543807 | - |
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