A haptic system for robotic assisted spine surgery

Author

Boschetti, Giovanni ; Rosati, Giulio ; Rossi, Aldo

Author_Institution

Dept. of Innovation in Mech. & Manage., Padua Univ., Padova

fYear

2005

fDate

28-31 Aug. 2005

Firstpage

19

Lastpage

24

Abstract

This paper deals with the problem of guiding an operator during the execution of a 5 degrees of freedom surgical teleoperation task. The work is focused on the feasibility of a spine surgery telerobotic system, made up of a haptic master, a slave robot, an optical tracking device and a main control unit. With this system, the surgeon performs a drilling operation by using a telerobotic device, being guided by haptic feedback: as soon as the vertebra moves, the tracking device measures vertebra pose and a proper force is exerted on the operator´s hand to let him/her adjust surgical tool position and orientation. Moreover, the haptic master produces the force feedback related to the teleoperation. The paper is focused on the design and implementation of this haptic system, with particular reference to control system architecture. Finally, some experimental results are presented

Keywords

bone; control system synthesis; force feedback; haptic interfaces; medical robotics; neurophysiology; position control; surgery; telerobotics; control system architecture; drilling operation; force feedback; haptic feedback; haptic master; haptic system; optical tracking; robotic assisted spine surgery; slave robot; spine surgery telerobotic system; surgical teleoperation; surgical tool orientation; surgical tool position; vertebra pose; Control systems; Force feedback; Force measurement; Haptic interfaces; Master-slave; Optical devices; Optical feedback; Robots; Surgery; Telerobotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Conference_Location

Toronto, Ont.

Print_ISBN

0-7803-9354-6

Type

conf

DOI

10.1109/CCA.2005.1507094

Filename

1507094