Abstract
This paper focuses on the definition of motion specifications and interaction forces leading to the design of a dedicated tele-operated craniotomy robot. In this purpose, a motion capture system is used to record neurosurgeon’s gestures as well as the drilling tool motion through craniotomy intervention on cadavers. Furthermore, Franka collaborative robot in tele-operation scheme is used to record interaction forces occurred at the contact point between the drilling tool and the human skull. The interaction force range is computed using the torque sensors provided on each joint of the collaborative robot.
| Original language | English |
|---|---|
| Pages (from-to) | 59-64 |
| Number of pages | 6 |
| Journal | International Journal of Mechanics and Control |
| Volume | 20 |
| Issue number | 2 |
| State | Published - 2019 |
Keywords
- Craniotomy
- Force feedback
- Motion capture
- Robotized tele-operation