Hippocrate: a safe robot arm for medical applications with force feedback

Pierrot, François; Dombre, Etienne; Degoulange, E.; Urbain, Loïc; Caron, Pierre; Boudet, S.; Gariepy, Jérôme; Mégnien, Jean-Louis

doi:10.1016/s1361-8415(99)80025-5

Cited by 170 publications

(107 citation statements)

References 16 publications

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“…Robotic systems in medical contexts are seldom controlled over distance, but by an expert physically sitting next to the robot (e.g., [6], [7], and [8]). This obviously does not solve the problem of low geographical availability of doctors.…”

Section: Background and Related Workmentioning

confidence: 99%

User requirements for a medical robotic system: Enabling doctors to remotely conduct ultrasonography and physical examination

Stollnberger

Moser

Giuliani

et al. 2016

2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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Section: Background and Related Workmentioning

confidence: 99%

User requirements for a medical robotic system: Enabling doctors to remotely conduct ultrasonography and physical examination

Stollnberger

Moser

Giuliani

et al. 2016

2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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“…Most of the haptic master devices had utilizing motors, links or wires. While these systems can generally reflect the reaction force of an organ, they also have problems such as complex mechanism and safety problem concerning unexpected movement of actuators [7]. Moreover, it is difficult to control reaction force continuously and smoothly.…”

Section: Introductionmentioning

confidence: 99%

Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid

Choi

Lee

2015

Measurement Science Review

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This work presents a torque measurement method of 3-degree-of-freedom (3-DOF) haptic master featuring controllable electrorheological (ER) fluid. In order to reflect the sense of an organ for a surgeon, the ER haptic master which can generate the repulsive torque of an organ is utilized as a remote controller for a surgery robot. Since accurate representation of organ feeling is essential for the success of the robot-assisted surgery, it is indispensable to develop a proper torque measurement method of 3-DOF ER haptic master. After describing the structural configuration of the haptic master, the torque models of ER spherical joint are mathematically derived based on the Bingham model of ER fluid. A new type of haptic device which has pitching, rolling, and yawing motions is then designed and manufactured using a spherical joint mechanism. Subsequently, the field-dependent parameters of the Bingham model are identified and generating repulsive torque according to applied electric field is measured. In addition, in order to verify the effectiveness of the proposed torque model, a comparative work between simulated and measured torques is undertaken.

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“…This will allow the clinician to repeat the examination of a patient on different dates in order to observe quantitatively the pathology evolution under the same conditions. Toward that end, a robotic system [7] has already been developed to automatically perform the 3-D US acquisition of cardiovascular pathologies. However, this system does not use the US visual information and requires the clinician to manually set the input and output ports of the trajectory.…”

Section: Introductionmentioning

confidence: 99%

Guidance of an ultrasound probe by visual servoing

Krupa¹,

Chaumette²

2006

Advanced Robotics

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Abstract-A new visual servoing technique based on two-dimensional (2-D) ultrasound (US) image is proposed in order to control the motion of an US probe held by a medical robot. In opposition to a standard camera which provides a projection of the three-dimensional (3-D) scene to a 2-D image, US information is strictly in the observation plane of the probe and consequently visual servoing techniques have to be adapted. In this paper the coupling between the US probe and a motionless crossed string phantom used for probe calibration is modeled. Then a robotic task is developed which consists of positioning the US image on the intersection point of the crossed string phantom while moving the probe to different orientations. The goal of this task is to optimize the procedure of spatial parameter calibration of 3-D US systems.

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Hippocrate: a safe robot arm for medical applications with force feedback

Cited by 170 publications

References 16 publications

User requirements for a medical robotic system: Enabling doctors to remotely conduct ultrasonography and physical examination

User requirements for a medical robotic system: Enabling doctors to remotely conduct ultrasonography and physical examination

Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid

Guidance of an ultrasound probe by visual servoing

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