R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. de Juan, Jr., and L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," Int. J. Robot. Res., vol. 18, pp. 1201--1210, 1999.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....that vessel in order to avoid some delicate tissue. Our goal is to apply and release the virtual fixture (essentially, change its compliance) appropriately, to help the surgeon easily move along the vessel as well as easily leave the vessel. Using the Johns Hopkins University Steady Hand Robot [15], we can create a virtual fixture that holds the tool tip motion to a desired path. By a linear damping law, the relationship between velocity of the robot and the force applied by the user to the tool handle is f k , 4) where k 0controls the stiffness of the contact. Let f= f x ,f y ) T ....

R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z.X. Wang, E. deJuan, L. Kavoussi, "Steady-hand robotic system for microsurgical augmentation," International Journal of Robotics Research, 18(12), 1999, pp. 1201-1210.

....at the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, May 12 17, 2003. Fig. 1. The experimental setup for the Steady Hand Robot using virtual fixtures to assist in a path following task. to be ergonomically appropriate for minimally invasive microsurgical tasks [14]. Our algorithms are developed to work with the admittance control structure of this robot. In this section, we describe the basic admittance control model used in our implementation, extend this control to anisotropic compliances, and finally relate anisotropic compliances to an underlying task ....

....implementation and the effect of control parameters (e.g. servo gain) on system performance. In this example, a predefined spatial virtual fixture is used to guide the robot. We applied the virtual fixture control law using the Remote Center Motion (RCM) module of the JHU Steady Hand robot [14], which rotates the end effector of the robot about a fixed point in the workspace (RCM point) The goal is to rotate the tool about the robot z axis with a fixed angle, by simultaneously rotating about the robot x and y axes. This creates a cone shaped motion with the tip located at the RCM ....

R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z.X. Wang, E. deJuan, and L. Kavoussi. Steady-hand robotic system for microsurgical augmentation. The International Journal of Robotics Research, 18(12):1201--1210, 1999.

....and low frequency drift [3] Suppression or cancellation of these components would improve existing surgical practice and possibly allow the development of new procedures. Research into microsurgical error suppression has involved teleopemted systems [2] cooperative control steady hand systems [4], and active hand held instruments [5,6] However, precise quantification of the performance baseline of unassisted surgeons against which such systems should be compared has thus far been lacking. Precise values for tremor amplitude and overall toolpositioning accuracy are important for ....

R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E de Juan, Jr., L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," Lecture Notes in Computer Science, SpringerVerlag, vol. 1679, pp. 1031-1041, 1999.

....be a consensus Within the field of the need for 10 p,m accuracy in tool positioning [1] Without accuracy enhancement devices, vitreoretinal microsurgeons are capable of accuracy of roughly 60 Bm, and that only for brief periods of . time [2] Microsurgical enhancement devices (robotic manipulators [3,4] and active hand held instruments [5] are being developed, but a system is needed to sense an instrument s tip position in three dimensions, and with accuracy to less than 10 Bin. In addition to evaluating enhancement devices, this sensing system would also be useful for assessing and training ....

R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E de Juan, Jr., L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," Lecture Notes in Computer Science, SpringerVerlag, vol. 1679, pp. 1031-1041, 1999.

....involving a robotic arm in place of the shaky human arm. Taylor et al. have used a steady hand approach, in which a robot and a surgeon directly manipulate the same tool, the robot having high stiffness and complying with only those components of the manual input force that are deemed desirable [8]. In order to further reduce cost, and to maximize ease of use, user acceptance, and compatibility with current Funding provided by the R. Green Annan Medical Fund and the Lettie B. Trognitz fund of The Pittsburgh Foundation. surgical practice, the presenl authors are implementing active error ....

R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. de Juan, and L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," in: C. Taylor, A. Colchester (eds.), Medical Image Computing and Computer-Assisted Intervention - MICCAI'99. Springer, Berlin, pp. 1031-1041.

....used in place of the unstable hmnan hand. This approach allows filtering of erroneous motion between master and slave manipulators, and also allows motion scaling to be implemented. Taylor et al. have used a steady hand approach, in which a robot and a surgeon directly manipulate the same tool [7], with the robot having high stiffness, and moving along with only those components of the manual input force that are deemed desirable. While this system cannot scale input motion, it has advantages in terms of cost and likelihood of user acceptance. Moreover, it lends the surgeon a third hand, ....

R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. de Juan, and L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," in: C. Taylor, A. Colchester (eds.), Medical Image Computing and Computer-Assisted Intervention - MICCAI'99. Berlin: Springer, pp. 1031-1041, 1999.

.... Robot (SHR) This surgical assistance system allows for interactive cooperation between machines and physicians, augmenting human capabilities to achieve manipulation with the precision and sensitivity of a machine, but the manipulative transparency and accessibility of hand held instruments [20]. Minimally invasive procedures involve conditions of significant sensitivity, and would especially benefit from such systems. In order to effectively use the assistive capabilities of the SHR, real time data must be compared with models and appropriate, contextual assistance provided. 1.3 Thesis ....

Taylor R et al. "Steady-Hand Robotic System for Microsurgical Augmentation," The International Journal of Robotics Research, Vol. 18, No. 12, 1999, pp. 1201-1210.

....to modify the behavior of the robot [9] Our goal is to show that a supervisory lookover the shoulder system could be used for the same purpose: to identify the operator s intent. 3. Data Acquisition and System Training Our experimental system consists of modeling and recognition software [11], machine level robot control software accessed through an interface to the JHU Modular Robot Control (MRC) library [9] and the JHU Steady Hand Robot (SHR) 11] The JHU SHR is a 7 degree of freedom manipulator with XYZ translation at the base for coarse positioning, two rotational degrees of ....

....the operator s intent. 3. Data Acquisition and System Training Our experimental system consists of modeling and recognition software [11] machine level robot control software accessed through an interface to the JHU Modular Robot Control (MRC) library [9] and the JHU Steady Hand Robot (SHR) [11]. The JHU SHR is a 7 degree of freedom manipulator with XYZ translation at the base for coarse positioning, two rotational degrees of freedom at the shoulder, and instrument insertion and rotation stages. A force sensor is integrated into the end effector. This robot has a remote center of motion ....

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R. Taylor. P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. deJuan, and L. Kavoussi, "Steady-hand robotic system for microsurgical augmentation," International Journal of Robotics Research, 18(12), 1999, pp. 1201-1210.

....on traditional telerobotic approaches [9,10] in which filtering can be inserted between master and slave manipulators. Motion scaling can also be implemented in such systems. Taylor et al. have followed a steady hand approach, in which a robot and a surgeon directly manipulate the same tool [11], with the robot having high stiffness, and moving along with only those components of the manual input force that are deemed desirable. While such a system cannot scale input motion, it has advantages in terms of cost and likelihood of user acceptance. In order to further reduce cost, and to ....

R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. de Juan, and L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," in: C. Taylor, A. Colchester (eds.), Medical Image Computing and Computer-Assisted Intervention--MICCAI'99. Springer, Berlin, 1999, pp. 1031-1041.

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R. H. Taylor, P. Jensen, L. L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. deJuan, and L. Kavoussi, #A steady-hand robotic system for microsurgical augmentation,# in Medical Image Computing and Computer-Assisted Interventions (MICCAI), (Cambridge, England), pp. 1031#1041, 1999.

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R. H. Taylor, P. Jensen, L. L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. deJuan, and L. R. Kavoussi, #A steady-hand robotic system for microsurgical augmentation,# International Journal of Robotics Research, vol. 18, pp. 1201#1210, December 1999.

....section, we report the results of comparative experiments using the three force control algorithms described in Section IV. A. Experimental Setup The arm used for these experiments was a seven degree of freedom robot arm developed at the Johns Hopkins University for medical applications [34] [35]. The arm has a three degree of freedom linear base stage, a two degree of freedom intermediate RCM stage [36] and a final two degree of freedom stage. For the experiments reported in this section, all the joints of the arm, except one degree of freedom of the base stage, were immobilized. The ....

R. H. Taylor, P. Jensen, L. L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. de Juan, and L. R. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," Int. J. Robot. Res., vol. 18, no. 12, pp. 1201--1210, Dec. 1999.

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R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. deJuan, and L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," in: C. Taylor, A. Colchester (eds.), Medical Image Computing and Computer-Assisted Intervention--MICCAI'99. Springer, Berlin, 1999, pp. 1031-1041.

....overhead and increased flexibility. 1.1 Examples 1.1.1 Steady Hand Cooperative Manipulation Cooperative ( Steady Hand ) manipulation offers an attractive alternative to the popular master slave teleoperation systems. Our LARS [2] test bed robots are equipped, and the steady hand robots [3] designed to explore this approach. The current primary application being investigated is therapy delivery in the eye to treat vein occlusion, though future applications include other ophthalmic applications, as well as a variety of ENT and spinal surgeries. Our modular robot control (MRC) ....

....trackers, and computational modeling. Robots: Our first generation systems for cooperative manipulation and fluoroscopically guided needle placement were built on the LARS platform [2] see fig. 2) Next generation robots developed within the center include the steady hand robot, [3] designed for cooperative manipulation; the CART (Constrained Access Robotic Therapy) Robot [4] a platform for needle placement and experimental orthopedic work; and the RCM PAKY System [18] designed for needle Figure 2. LARS (right) and the Steady Hand robot (left) two generations of robots ....

R. H. Taylor, A. Barnes, R. Kumar, P. Gupta, P. Jensen, L. L. Whitcomb, E. d. Juan, D. Stoianovici, and L. Kavoussi, " A Steady-Hand Robotic System for Microsurgical Augmentation," proc. of MICCAI'99, Cambridge, UK, 1999.

....are imperceptible to even a trained surgeon. As demonstrated in the literature [1 5] 6] the lack of tactile information during surgical procedures probably results in them taking longer and being less accurate than if tactile information were present. Our steady hand manipulation approach [7] is intended to provide a safe, intuitive means of addressing such problems by augmenting the manipulation capabilities of a surgeon. It is safe, as the surgeon has direction control of the manipulator, and thereby his or her accustomed surgical tools. It is intuitive, as the surgeon not only ....

....constrained needle placement task that presents many of the fine manipulation difficulties encountered in eye surgery. This task is a modified version of the peg in hole task, a common task used for performance evaluation [24] 25] 26] 3. 1Experimental Environment The experimental environment [7] consists of software and hardware components. The software consists of the machine level robot control software and the framework specific to this work. The JHU Modular Robot Control (MRC) library provides the machine level robot control functionality. The hardware consists a cooperative ....

R. H. Taylor, P. Jensen, L. L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. d. Juan, and L. Kavoussi, " A Steady-Hand Robotic System for Microsurgical Augmentation," presented at Medical Image Computing and Computer-Assisted Intervention - MICCAI'99, Cambridge, UK, 1999.

....of restrictive (e.g. uni axial, or bi axial) testing of tissues, but few automated multi axial systems have been proposed for lack of uniform applicability. A precise robot capable of measuring accurate forces would produce better models. We investigate this premise using our new steady hand [4] and percutaneous therapy [2] robots. These accurate robots are used for needle puncture experiments to measure force response and deformation of the tissue. The remaining parts of this document are organized as follows. A brief description of the system and its components is provided in the next ....

Taylor R.H, Barnes A, Kumar R, Gupta P, Jensen P, Whitcomb L.L, de Juan Jr., E., Stoianovici D., Kavoussi L, A Steady-Hand Robotic System for Microsurgical Augmentation, submitted to MICCAI'99.

....tasks is also included. The results support our claim that the new steady hand robot augments human performance for microsurgery scale motion 1 Introduction For the purpose of microsurgical applications, cooperative control systems promise significant advantages. A steady hand robot (e.g. [1]) can provide guidance, and enforce safety constraints. It can also use compliance models taking into account procedure specific issues such as tissue properties and thereby provide tactile sensing for the human surgeon. A cooperative control system has the advantage of integrating safety and ....

....difficult to quantify automated performance comparisons in the past have used visual inspection by the experimenter (e.g. 22] or an observer. Authors have also previously looked at comparative performance issues ( 29] 2 Methods and Materials 2. 1 Hardware We use the new steady hand robot ([1]) as the first platform for these experiments. Designed for microsurgical applications this is a 7 degree of freedom manipulator. It has 3 XYZ translation stages at the base for coarse positioning, two rotational degrees of freedom at the shoulder (the RCM linkage, 30] 31] an instrument ....

Taylor R.H, Barnes A, Kumar R, Gupta P, Jensen P, Whitcomb L.L, de Juan E., Stoianovici D., Kavoussi L, A Steady-Hand Robotic System for Microsurgical Augmentation, accepted for publication in MICCAI'99.

....is used to control the robot. The card provides servo control using a 40MHZ Analog Devices ADSP 2105 processor. It also has support for user digital and analog input, output lines. The PC also houses the ISA force sensor controller. The steady hand manipulation system prototype has been built ([35]) Experiments designed to evaluate the augmentation value of steady hand manipulation are currently being performed. Initial indications are that the basic design assumptions of a stiff robot with force control are valid for surgical manipulations at a micro scale ( 36] 2.1.1 Augmented Tools ....

R. H. Taylor, P. Jensen, L. L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. d. Juan, and L. Kavoussi, " A Steady-Hand Robotic System for Microsurgical Augmentation," presented at Medical Image Computing and Computer-Assisted Intervention - MICCAI'99, Cambridge, UK, 1999.

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R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. de Juan, Jr., and L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," Int. J. Robot. Res., vol. 18, pp. 1201--1210, 1999.

No context found.

R. Taylor, A. Barnes, R. Kumar, P. Gupta, Z. Wang, L. Whitcomb, P. Jensen, E. de Juan, D. Stoianovici, and L. Kavoussi, "Steady-Hand Robotic Systems for Microsurgical Augmentation," International Journal of Robotics Research, Vol. 18, No. 12, pp. 1201-1210, 1998.

No context found.

Taylor RH, Jensen PS, Whitcomb LL, et al. A steady-hand robotic system for microsurgical augmentation. International Journal of Robotics Research. December 1999;18:1201-1210.

No context found.

Taylor RH, Jensen PS, Whitcomb LL, et al. A steadyhand robotic system for microsurgical augmentation. Int J Robot Res 1999;18:1201-10.

No context found.

R. Taylor, P. Jensen, L. Whitcomb, A, Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. de Juan, and L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," in: C Taylor, A. Colchester (eds.), Medical Image Computing and Computer-Assisted Intervention - MICCAI'99. Springer, Berlin, pp. 1031-1041.

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