Title :
Robotized reconstructive surgery: ongoing study and first results
Author :
Pierrot, François ; Dombre, Etienne ; Téot, Luc ; Dégoulange, Eric
Author_Institution :
LIRMM, CNRS, Montpellier, France
Abstract :
The paper presents an ongoing research program in robotized reconstructive surgery. We first analyze the action of surgeons harvesting skin, in terms of speed and forces. Then we present the control strategies we have selected and implemented on a redundant robot arm. Finally we present the first experimental results obtained on an animal: this shows that robotized skin harvesting is a possible task
Keywords :
cutting; medical robotics; redundant manipulators; skin; surgery; redundant robot arm; robotized reconstructive surgery; skin cutting; skin grafting; skin harvesting; Animals; Force control; Hospitals; Image reconstruction; Manipulators; Medical robotics; Robots; Skin; Strips; Surgery;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844827
