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 proceedingConference contribution

10 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 languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages549-554
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China
Duration: Aug 7 2011Aug 10 2011

Publication series

Name2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Other

Other2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
CountryChina
CityBeijing
Period8/7/118/10/11

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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