Abstract
We present the design and implementation of a vision-based system for micron-scale, cooperative manipulation of a surgical tool. The system is based on a control algorithm that implements a broad class of guidance modes called virtual fixtures. A virtual fixture, like a real fixture, limits the motion of a tool to a prescribed class or range. The implemented system uses vision as a sensor for providing a reference trajectory, and the control algorithm then provides haptic feedback involving direct, shared manipulation of a surgical tool. We have tested this system on the JHU Steady Hand robot and provide experimental results for path following and positioning on structures at both macroscopic and microscopic scales.
Original language | English (US) |
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Pages (from-to) | 3354-3361 |
Number of pages | 8 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 4 |
State | Published - Jan 1 2002 |
Event | 2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States Duration: May 11 2002 → May 15 2002 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering