Control of fracture reduction robot using force/torque measurement

Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology"

Volumn , Issue , 2008, Pages 3265-3268

  Douke, T ^a   Nakajima, Y ^a   Mori, Y ^a   Onogi, S ^a   Sugita, N ^a   Mitsuishi, M ^a   Bessho, M ^b   Ohhashi, S ^b   Tobita, K ^b   Ohnishi, I ^a,c   Sakuma, I ^a   Dohi, T ^a   Maeda, Y ^d   Koyama, T ^d   Sugano, N ^e   Yonenobu, K ^d   Matsumoto, Y ^a   Nakamura, K ^b  

^a UNIVERSITY OF TOKYO   (Japan)

^b UNIVERSITY OF TOKYO   (Japan)

^c UNIVERSITY OF TOKYO HOSPITAL   (Japan)

^d MINAMI OSAKA GENERAL HOSPITAL   (Japan)

^e OSAKA UNIVERSITY MEDICAL SCHOOL   (Japan)

Author keywords

Biomechanical property of leg; Femur fracture reduction; Surgical robotic system

Indexed keywords

BONE; ROBOTIC SURGERY; ROBOTICS; ROBOTS; SURGERY; TRACTION CONTROL;

BIOMECHANICAL PROPERTIES; CONTROL METHODS; FEMORAL FRACTURES; FRACTURE REDUCTION; MEASUREMENTS OF; SURGICAL METHOD; SURGICAL ROBOTIC SYSTEM; TRACTION FORCES;

FRACTURE;

ARTICLE; BIOMECHANICS; COMPUTER ASSISTED SURGERY; COMPUTER PROGRAM; EQUIPMENT; EQUIPMENT DESIGN; FEMUR; FEMUR FRACTURE; HUMAN; IMAGE QUALITY; MECHANICAL STRESS; MUSCLE; PATHOLOGY; ROBOTICS; TORQUE; TRACTION THERAPY;

BIOMECHANICAL PHENOMENA; EQUIPMENT DESIGN; FEMORAL FRACTURES; FEMUR; HUMANS; MUSCLES; PHANTOMS, IMAGING; ROBOTICS; SOFTWARE; STRESS, MECHANICAL; SURGERY, COMPUTER-ASSISTED; TORQUE; TRACTION;

EID: 61849083716     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/iembs.2008.4649901     Document Type: Conference Paper

References (6)

1. Y. Nakajima, et al., "Computer-assisted fracture reduction of proximal femur using preoperative CT data and intraoperative fluoroscopic images," CARS 2004, Chicago, USA, 2004.
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3. F. Matsuno, "Hybrid position force control of flexible manipulators on the basis of an equivalent spring model," Proc. of IEEE Intl. Conf. on Industrial Electronics, Control, Instrumentation and Automation, 1992, pp. 664-669
4. S. Lee, et al., "A Perturbation/Correlation Method for Force Guided Robot Assembly," IEEE Trans. on Robotics and Automation, 15(4), 1999, pp. 764-773.
5. Y. Yamamoto, et al., "Measurement of Force Sensory Information in Ultraprecision Assembly Tasks," IEEE/ASME Transl. on Mechatronics, 7(2), 2002, pp. 186-189.
6. S. H. Hyon, et al., "Gravity Compensation and Full-Body Balancing for Humanoid Robots," IEEE-RAS Intl. Conf. on Humanoid Robots, 2006, pp. 214-221