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a fully sensorized cooperative robotic system for surgical interventions一个完全sensorized合作机器人系统手术干预
Sensors 2012, 12, 9423-9447; doi:10.3390/s120709423
OPEN ACCESS
sensors
ISSN 1424-8220
/journal/sensors
Article
A Fully Sensorized Cooperative Robotic System for
Surgical Interventions
Saúl Tovar-Arriaga 1,2,*, José Emilio Vargas 2, Juan M. Ramos 2, Marco A. Aceves 2,
2 1
Efren Gorrostieta and Willi A. Kalender
1 Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91,
91052 Erlangen, Germany; E-Mail: willi.kalender@imp.uni-erlangen.de
2 Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla,
Querétaro, Qro. C.P. 76230, Mexico; E-Mails: emilio@ (J.E.V.);
jramos@ (J.M.R.); marco.aceves@uaq.mx (M.A.A.);
efrengorrostieta@ (E.G.)
* Author to whom correspondence should be addressed; E-Mail: saul.tovar@uaq.mx;
Tel.: +52-442-230-3685.
Received: 18 June 2012; in revised form: 3 July 2012 / Accepted: 3 July 2012 /
Published: 9 July 2012
Abstract: In this research a fully sensorized cooperative robot system for manipulation
of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III
especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic
C-arm system, and a navigation camera. Also, new control strategies for robot
manipulation in the clinical environment are introduced. A method for fast calibration of
the involved components and the preliminary accuracy tests of th
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