DocumentCode
806399
Title
Robotic Compensation of Biological Motion to Enhance Surgical Accuracy
Author
Riviere, Cameron N. ; Gangloff, Jacques ; De Mathelin, Michel
Author_Institution
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA
Volume
94
Issue
9
fYear
2006
Firstpage
1705
Lastpage
1716
Abstract
Robotic technologies provide new ways to compensate quasi-periodic biological motion, enabling higher surgical accuracy without invasive measures such as cardiopulmonary bypass. This paper describes current research in robotic compensation of hand tremor, respiratory motion, and heartbeat during surgical procedures. An analysis of each physiological motion pattern is provided, as well as a description of novel compensation techniques
Keywords
medical robotics; motion compensation; surgery; biological motion; cardio-pulmonary bypass; computer-aided surgery; hand tremor; heartbeat; medical robotics; physiological motion compensation; physiological motion pattern; respiratory motion; robotic compensation; surgical accuracy; Abdomen; Cardiology; Heart beat; Medical robotics; Microsurgery; Motion analysis; Motion compensation; Robots; Surgery; Surges; Computer-aided surgery; heartbeat; medical robotics; physiological motion compensation; respiration; tremor;
fLanguage
English
Journal_Title
Proceedings of the IEEE
Publisher
ieee
ISSN
0018-9219
Type
jour
DOI
10.1109/JPROC.2006.880722
Filename
1717788
Link To Document