A steady-hand robotic system for microsurgical augmentation

Russell H Taylor, Patrick Jensen, Louis Whitcomb, Aaron Barnes, Rajesh Kumar, Dan Stoianovici, Puneet Gupta, Zheng Xian Wang, Eugene de Juan, Louis Kavoussi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper reports the development of a robotic system designed to extend a human’s ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. Our novel approach, which we call “steady hand” micromanipulation, is for tools to be held simultaneously both by the operator’s hand and a specially designed actively controlled robot arm. The robot’s controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of handheld tools for tasks characterized by compliant or semi-rigid contacts with the environment.

Original languageEnglish (US)
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages1031-1041
Number of pages11
Volume1679
ISBN (Print)354066503X, 9783540665038
StatePublished - 1999
Event2nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1999 - Cambridge, United Kingdom
Duration: Sep 19 1999Sep 22 1999

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1679
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other2nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1999
CountryUnited Kingdom
CityCambridge
Period9/19/999/22/99

Fingerprint

Augmentation
End effectors
Robotics
Manipulation
Robot
Robots
Micromanipulation
Information use
Transparency
Operator
Scaling
Contact
Controller
Controllers
Human

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Taylor, R. H., Jensen, P., Whitcomb, L., Barnes, A., Kumar, R., Stoianovici, D., ... Kavoussi, L. (1999). A steady-hand robotic system for microsurgical augmentation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 1679, pp. 1031-1041). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1679). Springer Verlag.

A steady-hand robotic system for microsurgical augmentation. / Taylor, Russell H; Jensen, Patrick; Whitcomb, Louis; Barnes, Aaron; Kumar, Rajesh; Stoianovici, Dan; Gupta, Puneet; Wang, Zheng Xian; de Juan, Eugene; Kavoussi, Louis.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1679 Springer Verlag, 1999. p. 1031-1041 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1679).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Taylor, RH, Jensen, P, Whitcomb, L, Barnes, A, Kumar, R, Stoianovici, D, Gupta, P, Wang, ZX, de Juan, E & Kavoussi, L 1999, A steady-hand robotic system for microsurgical augmentation. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 1679, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 1679, Springer Verlag, pp. 1031-1041, 2nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1999, Cambridge, United Kingdom, 9/19/99.
Taylor RH, Jensen P, Whitcomb L, Barnes A, Kumar R, Stoianovici D et al. A steady-hand robotic system for microsurgical augmentation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1679. Springer Verlag. 1999. p. 1031-1041. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
Taylor, Russell H ; Jensen, Patrick ; Whitcomb, Louis ; Barnes, Aaron ; Kumar, Rajesh ; Stoianovici, Dan ; Gupta, Puneet ; Wang, Zheng Xian ; de Juan, Eugene ; Kavoussi, Louis. / A steady-hand robotic system for microsurgical augmentation. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1679 Springer Verlag, 1999. pp. 1031-1041 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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