An augmentation system for fine manipulation

Rajesh Kumar, Gregory Hager, Aaron Barnes, Patrick Jensen, Russell H Taylor

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

Abstract

Augmented surgical manipulation tasks can be viewed as a sequence of smaller, simpler steps driven primarily by the surgeon's input. These steps can be abstracted as controlled interaction of the tool/end-effector with the environment. The basic research problem here is performing a sequence of control primitives. In computing terms, each of the primitives is a predefined computational routine (e.g. compliant motion or some other “macro”) with initiation and termination predicates. The sequencing of these primitives depends upon user control and effects of the environmental interaction. We explore a sensor driven system to perform simple manipulation tasks. The system is composed of a core set of “safe” system states and task specific states and transitions. Using the “steady hand” robot as the experimental platform we investigate using such a system.

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
Pages956-965
Number of pages10
Volume1935
ISBN (Print)3540411895, 9783540411895
StatePublished - 2000
Event3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000 - Pittsburgh, United States
Duration: Oct 11 2000Oct 14 2000

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1935
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000
CountryUnited States
CityPittsburgh
Period10/11/0010/14/00

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ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Kumar, R., Hager, G., Barnes, A., Jensen, P., & Taylor, R. H. (2000). An augmentation system for fine manipulation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 1935, pp. 956-965). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1935). Springer Verlag.