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Virtual fixtures with autonomous error compensation for human–robot cooperative tasks

Published online by Cambridge University Press:  02 September 2009

Raúl A. Castillo-Cruces and
Jürgen Wahrburg
Raúl A. Castillo-Cruces*
Affiliation:
Center for Sensor Systems (ZESS), University of Siegen, Germany
Jürgen Wahrburg
Affiliation:
Center for Sensor Systems (ZESS), University of Siegen, Germany
*
*Corresponding author. E-mail: castillo-cruces@zess.uni-siegen.de
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This paper presents a control strategy for surgical interventions, applied on a human–robot cooperative system, which facilitates the sharing of responsibilities between surgeon and robot. The controller utilizes virtual fixtures to constrain the movements of the end-effector into a predefined path or region. Possible deviation error can be compensated in two different ways: (a) manual compensation and (b) autonomous compensation. With manual compensation, the system defines both virtual fixtures and error compensation directions, but the surgeon must apply manual forces himself/herself in order to generate end-effector motion. With autonomous compensation, a clear distribution of responsibilities between surgeon and robotic system is present, meaning the surgeon has complete control of the end-effector along the preferred directions, while the robot autonomously compensates for any deviation along the non-preferred directions.

Information

Type
Article
Information
Robotica , Volume 28 , Special Issue 2: Surgical Robotics: System Development, Application Study and Performance Analysis , March 2010, pp. 267 - 277
Copyright
Copyright © Cambridge University Press 2009

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