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Haptic Navigation with an Upper Limb Exoskeleton for Robot-Assisted Surgery

Hessinger, Markus and Werthschützky, Roland and Pott, Peter P. (2016):
Haptic Navigation with an Upper Limb Exoskeleton for Robot-Assisted Surgery.
In: 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, Florida, USA, 16.-20. August 2016, [Conference or Workshop Item]

Abstract

This paper presents a surgical navigation system with an upper limb exoskeleton. The robotic system consists of a real-time tracking camera with optical markers and a 7-DOF serial manipulator for positioning a tool on a preplanned path. The detection of the user’s movement intention is enabled with integrated torque sensors and an inverse dynamic model of the kinematic chain. Therefore, the cooperative system combines the human ability to take decisions with the precision and fatigue resistance of a robot.

Item Type: Conference or Workshop Item
Erschienen: 2016
Creators: Hessinger, Markus and Werthschützky, Roland and Pott, Peter P.
Title: Haptic Navigation with an Upper Limb Exoskeleton for Robot-Assisted Surgery
Language: English
Abstract:

This paper presents a surgical navigation system with an upper limb exoskeleton. The robotic system consists of a real-time tracking camera with optical markers and a 7-DOF serial manipulator for positioning a tool on a preplanned path. The detection of the user’s movement intention is enabled with integrated torque sensors and an inverse dynamic model of the kinematic chain. Therefore, the cooperative system combines the human ability to take decisions with the precision and fatigue resistance of a robot.

Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Measurement and Sensor Technology
Event Title: 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Event Location: Orlando, Florida, USA
Event Dates: 16.-20. August 2016
Date Deposited: 22 Sep 2016 11:00
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