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Image-guided robotic mastoidectomy using human-robot collaboration control

Title
Image-guided robotic mastoidectomy using human-robot collaboration control
Authors
Lim, HoonHan, Jung-MinHong, JaeseungYi, Byung-JuLee, Seung HwanJeong, Jin KyeokMatsumoto, NozomuOka, MasamichiKomune, ShizuoHashizume, Makoto
DGIST Authors
Hong, Jaeseung
Issue Date
2011
Citation
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, 549-554
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy. © 2011 IEEE.
URI
http://hdl.handle.net/20.500.11750/3908
DOI
10.1109/ICMA.2011.5985720
Publisher
Institute of Electrical and Electronics Engineers Inc.
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringETC2. Conference Papers


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