Maxillofacial Surgical Robotic Manipulator Controlled By Haptic Device with Force Feedback

摘要：

　　Operation in the area of Maxillofacial section is very difficult and risky due to its complicated and random anatomical structure.Therefore,to resolve these types of surgical issues,a multi-arm medical robot is designed.This paper presents a system able to perform complex maxillofacial surgeries using 6- DOF surgical manipulator and haptic device with force feedback capability.Force sensor is placed on manipulator end-effector and force feedback responses are felt on Haptic device.This proposed system improves surgical accuracy and removes surgeon’s tension during tele-operation.The prototype of the whole system is designed and tests are conceded out under the surveillance of optical tracking system.The results demonstrate the system accuracy and reliability with force feedback competency.

关键词： Tele-robotic Surgery Force feedback Maxillofacial Surgery Haptic Device

作者: Amjad Ali Syed Xing-guang Duan Xiangzhan Kong Meng Li Yonggui-Wang Qiang Huang

作者单位: Intelligent Robotics Institute Ministry of Education School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, 100081, China; Key Laboratory of Biomimetic Robots and Systems, Ministry of Education School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, 100081, China

会议类型: 国际会议

会议名称: 2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

会议地点: 北京

会议语种:英文

页码: 363-368

在线出版日期: 2013-05-25（万方平台首次上网日期，不代表论文的发表时间）