title: A fully sensorized cooperative robotic system for surgical interventions.
abstract: In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ± 0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ± 0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements.
authors.affiliation: Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany. saul.tovar@uaq.mx
authors.forename: Saúl
authors.initials: S
authors.lastname: Tovar-Arriaga
authors.forename: José Emilio
authors.initials: JE
authors.lastname: Vargas
authors.forename: Juan M
authors.initials: JM
authors.lastname: Ramos
authors.forename: Marco A
authors.initials: MA
authors.lastname: Aceves
authors.forename: Efren
authors.initials: E
authors.lastname: Gorrostieta
authors.forename: Willi A
authors.initials: WA
authors.lastname: Kalender