Publication

Hanyang University HumanRobotics Lab

International Conference
Image-Guided Robotic Mastoidectomy Using Human-Robot Collaboration Control
Conference
International Conference on Mechatronics and Automation
Author
H. Lim, J.-M. Han, J. Hong, B.-J. Yi, S. H. Lee, J. H. Jeong, N. Matsumoto, M. Oka, S. Komune, and M. Hashizume
Year
2011
Date
2011.08.09
File
Image-Guided Robotic Mastoidectomy Using Human-Robot Collaboration Control.pdf (416.2K) 1회 다운로드 DATE : 2020-10-19 22:58:11
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.