Force sensing and control for a surgical robot

Peter Kazanzides, Joel Zuhars, Brent Mittelstadt, Russell H. Taylor

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

Abstract

The authors describe the use of force feedback in a surgical robot system (ROBODOC). The application initially being addressed is total hip replacement (THR) surgery, where the robot must prepare a cavity in the femur for an artificial implant. In this system, force feedback is used to provide safety, tactile search capabilities, and an improved man-machine interface. Output of the force sensor is monitored by a safety processor, which initiates corrective action if any of several application-defined thresholds are exceeded. The robot is able to locate objects using guarded moves and force control (ball-in-cone strategy). In addition, the force control algorithm provides an intuitive man-machine interface which allows the surgeon to guide the robot by leading its tool to the desired location. An application of force control currently under development is described, where the force feedback is used to modify the cutter feed rate (force controlled velocity).

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages612-617
Number of pages6
ISBN (Print)0818627204
StatePublished - Apr 1 1992
EventProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: May 12 1992May 14 1992

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1

Other

OtherProceedings 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period5/12/925/14/92

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Kazanzides, P., Zuhars, J., Mittelstadt, B., & Taylor, R. H. (1992). Force sensing and control for a surgical robot. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 612-617). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Publ by IEEE.