Image-guided robotic mastoidectomy using human-robot collaboration control

Hoon Lim; Jung Min Han; Jaesung Hong; Byung Ju Yi; Seung Hwan Lee; Jin Hyeok Jeong; Nozomu Matsumoto; Masamichi Oka; Shizuo Komune; Makoto Hashizume

doi:10.1109/ICMA.2011.5985720

Image-guided robotic mastoidectomy using human-robot collaboration control

Hoon Lim, Jung Min Han, Jaesung Hong, Byung Ju Yi, Seung Hwan Lee, Jin Hyeok Jeong, Nozomu Matsumoto, Masamichi Oka, Shizuo Komune, Makoto Hashizume

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

Abstract

This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages	549-554
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2011.5985720
Publication status	Published - 2011
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China Duration: Aug 7 2011 → Aug 10 2011

Publication series

Name	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Other

Other	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Country/Territory	China
City	Beijing
Period	8/7/11 → 8/10/11

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICMA.2011.5985720

Cite this

Lim, H., Han, J. M., Hong, J., Yi, B. J., Lee, S. H., Jeong, J. H., Matsumoto, N., Oka, M., Komune, S., & Hashizume, M. (2011). Image-guided robotic mastoidectomy using human-robot collaboration control. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 549-554). [5985720] (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). https://doi.org/10.1109/ICMA.2011.5985720

Image-guided robotic mastoidectomy using human-robot collaboration control. / Lim, Hoon; Han, Jung Min; Hong, Jaesung et al.

2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 549-554 5985720 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lim, H, Han, JM, Hong, J, Yi, BJ, Lee, SH, Jeong, JH, Matsumoto, N, Oka, M, Komune, S & Hashizume, M 2011, Image-guided robotic mastoidectomy using human-robot collaboration control. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985720, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp. 549-554, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, China, 8/7/11. https://doi.org/10.1109/ICMA.2011.5985720

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Image-guided robotic mastoidectomy using human-robot collaboration control

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