Dynamic force control for a miniaturised medical robot system

D. Schauer; A. Hein; T. C. Lueth

doi:10.1109/AIM.2003.1225494

Dynamic force control for a miniaturised medical robot system

D. Schauer, A. Hein, T. C. Lueth

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

The goal of this project was the realisation of an autoclavable mobile miniature robot that can be integrated easily into a standard OR. The new miniature robot consists of an positioning unit with two or four active and two passive axes (position at z-axis and rotation around z-axis). The unit has to be positioned versus the patient under navigation control and is fixed rigidly by a mechanical arm. The system integrates the robots work space and the planning model within an optical and electromechanical controlled execution mode. The miniature robot reaches an absolute accuracy of about 0.5 mm reproducibility equal to competitive navigation and robot assisted systems. Forces of up to 20 N can be generated by the positioning unit while the system stays fixed. The increment interpretation of constant torque impulses permits the quantitative determination of contact forces up to 20 N with a deviation of max. 20 %. The system is fully compatible to the standard OR and its accuracy as well as its stability is high. Due to its transparent system structure and modular concept, the miniature robot can be used within a wide range of medical application.

Original language	English
Title of host publication	Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1090-1095
Number of pages	6
ISBN (Electronic)	0780377591
DOIs	https://doi.org/10.1109/AIM.2003.1225494
State	Published - 2003
Externally published	Yes
Event	2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan Duration: 20 Jul 2003 → 24 Jul 2003

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2

Conference

Conference	2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Country/Territory	Japan
City	Kobe
Period	20/07/03 → 24/07/03

Keywords

Biomedical optical imaging
Force control
Integrated optics
Medical robotics
Mobile robots
Navigation
Optical control
Orbital robotics
Reproducibility of results
Torque

Access to Document

10.1109/AIM.2003.1225494

Cite this

Schauer, D., Hein, A., & Lueth, T. C. (2003). Dynamic force control for a miniaturised medical robot system. In Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 (pp. 1090-1095). Article 1225494 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225494

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title = "Dynamic force control for a miniaturised medical robot system",

abstract = "The goal of this project was the realisation of an autoclavable mobile miniature robot that can be integrated easily into a standard OR. The new miniature robot consists of an positioning unit with two or four active and two passive axes (position at z-axis and rotation around z-axis). The unit has to be positioned versus the patient under navigation control and is fixed rigidly by a mechanical arm. The system integrates the robots work space and the planning model within an optical and electromechanical controlled execution mode. The miniature robot reaches an absolute accuracy of about 0.5 mm reproducibility equal to competitive navigation and robot assisted systems. Forces of up to 20 N can be generated by the positioning unit while the system stays fixed. The increment interpretation of constant torque impulses permits the quantitative determination of contact forces up to 20 N with a deviation of max. 20 %. The system is fully compatible to the standard OR and its accuracy as well as its stability is high. Due to its transparent system structure and modular concept, the miniature robot can be used within a wide range of medical application.",

keywords = "Biomedical optical imaging, Force control, Integrated optics, Medical robotics, Mobile robots, Navigation, Optical control, Orbital robotics, Reproducibility of results, Torque",

author = "D. Schauer and A. Hein and Lueth, {T. C.}",

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series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

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Schauer, D, Hein, A & Lueth, TC 2003, Dynamic force control for a miniaturised medical robot system. in Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003., 1225494, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2, Institute of Electrical and Electronics Engineers Inc., pp. 1090-1095, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 20/07/03. https://doi.org/10.1109/AIM.2003.1225494

Dynamic force control for a miniaturised medical robot system. / Schauer, D.; Hein, A.; Lueth, T. C.
Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc., 2003. p. 1090-1095 1225494 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - The goal of this project was the realisation of an autoclavable mobile miniature robot that can be integrated easily into a standard OR. The new miniature robot consists of an positioning unit with two or four active and two passive axes (position at z-axis and rotation around z-axis). The unit has to be positioned versus the patient under navigation control and is fixed rigidly by a mechanical arm. The system integrates the robots work space and the planning model within an optical and electromechanical controlled execution mode. The miniature robot reaches an absolute accuracy of about 0.5 mm reproducibility equal to competitive navigation and robot assisted systems. Forces of up to 20 N can be generated by the positioning unit while the system stays fixed. The increment interpretation of constant torque impulses permits the quantitative determination of contact forces up to 20 N with a deviation of max. 20 %. The system is fully compatible to the standard OR and its accuracy as well as its stability is high. Due to its transparent system structure and modular concept, the miniature robot can be used within a wide range of medical application.

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Schauer D, Hein A, Lueth TC. Dynamic force control for a miniaturised medical robot system. In Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc. 2003. p. 1090-1095. 1225494. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2003.1225494

Dynamic force control for a miniaturised medical robot system

Abstract

Publication series

Conference

Keywords

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