Kinematic path-following control of a mobile robot on arbitrary surface

Kane, Gavin; Boesecke, R.; Raczkowsky, Jörg; Wörn, Heinz

doi:10.1109/robot.2010.5509881

Cited by 3 publications

(1 citation statement)

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“…Another system, which is also intended for the use in neurosurgery is the Craniostar [19]. A handheld craniotome is mounted on a two wheeled platform.…”

Section: State Of the Artmentioning

confidence: 99%

Evaluation of a synergistic handheld instrument for resternotomy controlled by an integrated optical sensor

Korff

Jalowy

Mueller

et al. 2011

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Re-Sternotomy is an important part of many interventions in cardiac or thoracic surgery. It is performed close to critical structures such as the ascending aorta or the heart with an inherent high risk of serious damage. In this paper, a system for improving the safety of this surgical procedure is presented. A soft tissue preserving saw is combined with automatic depth regulation. The depth is controlled on the basis of the optical characteristics (visible light) of the tissue aligned to the saw blade, which is analyzed using a color sensor. Detection of the blades' position in the bone during the cutting process is possible through the integration of an optical fiber into the tip of the saw blade. The automatic depth control is realized using a hysteresis controller running on a real time system. To show the feasibility of this approach, the sensor technology was integrated into a prototypal sternal saw and evaluated on artificial bone. As part of the experiments the influence of water for cooling and dust particles from the process on the systems control stability were analyzed. The system performed stable and accurate. Future research will focus on the control algorithm and cadaver trials.

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“…Another system, which is also intended for the use in neurosurgery is the Craniostar [19]. A handheld craniotome is mounted on a two wheeled platform.…”

Section: State Of the Artmentioning

confidence: 99%