@inproceedings{5e8da8adfde64a60bdf9f75be8a5175f,
title = "A hands-on-robot for accurate placement of pedicle screws",
abstract = "This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (<10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose of the robot tool-center point is tracked by an optical navigation system, serving as an external reference source. Therefore, it is possible to measure and to compensate deviations between the intraoperative and the preoperatively planned pose. The robotic arm itself is impedance controlled. This allows for a new intuitive manmachine-interface as the joint units are equipped with torque sensors: the robot can be moved just by pulling/pushing its structure. The surgeon has full control of the robot at every step of the intervention. The hand-eye-coordination problems known from manual pedicle screw placement can be omitted.",
keywords = "Hands on robotics, Impedance control, Navigation, Pedicle screw, Robotic surgery, Soft robotics",
author = "T. Ortmaier and H. Weiss and U. Hagn and M. Grebenstein and M. Nicki and A. Albu-Sch{\"a}ffer and C. Ott and S. J{\"o}rg and R. Konietschke and Luc Le-Tien and G. Hirzinger",
year = "2006",
doi = "10.1109/ROBOT.2006.1642345",
language = "English",
isbn = "0780395069",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "4179--4186",
booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",
note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",
}