Title :
Review of comanipulation robot in surgery
Author :
Yue Zhan ; Xing-guang Duan ; Jian-xi Li
Author_Institution :
Intell. Robot. Inst., Beijing Inst. of Technol. Univ., Beijing, China
Abstract :
Interaction of human and robot (HRI) is the main problem that impacts the development of robot, especially the surgery robot. Comanipulation is a prime solution, with the novel feature of high backdrivability, high precision because of active constrain control. This paper introduces several comanipulation robots in surgery and summarizes the characteristics of each robot. The challenges and opportunities of comanipulation robots in the future are concluded.
Keywords :
human-robot interaction; manipulators; medical robotics; surgery; HRI; active constrain control; backdrivability; comanipulation robot; human-robot Interaction; surgery robot; Accuracy; Force; Force sensors; Instruments; Robot sensing systems; Surgery; Active constrain; Backdrivability; Comanipulation; Human-robot interaction; Registration;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237701
