A master-slave hybrid position/force control for robot-aided pedicle tapping
Fuente:
Zenodo
Enregistré dans:
| Auteurs principaux: | , , , |
|---|---|
| Format: | Recurso digital |
| Publié: |
Zenodo
2024
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866902154112925696 |
|---|---|
| author | Morfino, Rosaura Lauretti, Clemente Cordella, Francesca Zollo, Loredana |
| author_facet | Morfino, Rosaura Lauretti, Clemente Cordella, Francesca Zollo, Loredana |
| contents | This paper presents a master-slave hybrid position/force control designed to enhance screw placement accuracy and reduce surgery duration in robot-aided spinal fixation, while simultaneously ensuring surgeon's comfort. The proposed approach allows the surgeon to switch control modes based on bone layers and his/her preferences. Experimental results with non-expert users threading a spine phantom demonstrate an optimal trade-off between placement accuracy (error concerning the desired end position: 0.02±0.03 [mm]), surgery duration (task completion time: 11.8±2.6 [s]), and perceived workload. |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_14731005 |
| institution | Zenodo |
| language | |
| publishDate | 2024 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | A master-slave hybrid position/force control for robot-aided pedicle tapping Morfino, Rosaura Lauretti, Clemente Cordella, Francesca Zollo, Loredana Hybrid position/force control Surgical robotics Spinal surgery Pedicle screw fixation This paper presents a master-slave hybrid position/force control designed to enhance screw placement accuracy and reduce surgery duration in robot-aided spinal fixation, while simultaneously ensuring surgeon's comfort. The proposed approach allows the surgeon to switch control modes based on bone layers and his/her preferences. Experimental results with non-expert users threading a spine phantom demonstrate an optimal trade-off between placement accuracy (error concerning the desired end position: 0.02±0.03 [mm]), surgery duration (task completion time: 11.8±2.6 [s]), and perceived workload. |
| title | A master-slave hybrid position/force control for robot-aided pedicle tapping |
| topic | Hybrid position/force control Surgical robotics Spinal surgery Pedicle screw fixation |
| url | https://doi.org/10.5281/zenodo.14731005 |