Burr hole craniotomy on cadavers for the design of teleoperated robot: Motion specifications and interaction forces

T. Essomba; J. Sandoval; M. A. Laribi; C. T. Wu; C. Breque; S. Zeghloul; J. P. Richer

Burr hole craniotomy on cadavers for the design of teleoperated robot: Motion specifications and interaction forces

T. Essomba, J. Sandoval, M. A. Laribi, C. T. Wu, C. Breque, S. Zeghloul, J. P. Richer

機械工程學系

研究成果: 雜誌貢獻 › 期刊論文 › 同行評審

3 引文斯高帕斯（Scopus）

摘要

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.

原文	???core.languages.en_GB???
頁（從 - 到）	59-64
頁數	6
期刊	International Journal of Mechanics and Control
卷	20
發行號	2
出版狀態	已出版 - 2019

引用此

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T1 - Burr hole craniotomy on cadavers for the design of teleoperated robot

T2 - Motion specifications and interaction forces

AU - Essomba, T.

AU - Sandoval, J.

AU - Laribi, M. A.

AU - Wu, C. T.

AU - Breque, C.

AU - Zeghloul, S.

AU - Richer, J. P.

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

KW - Craniotomy

KW - Force feedback

KW - Motion capture

KW - Robotized tele-operation

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M3 - 期刊論文

AN - SCOPUS:85076471247

SN - 1590-8844

VL - 20

SP - 59

EP - 64

JO - International Journal of Mechanics and Control

JF - International Journal of Mechanics and Control

IS - 2

ER -

Burr hole craniotomy on cadavers for the design of teleoperated robot: Motion specifications and interaction forces

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