Technical Brief

Online Free Anatomy Registration via Noncontact Skeletal Tracking for Collaborative Human/Robot Interaction in Surgical Robotics1

[+] Author and Article Information
John J. O'Neill, Timothy M. Kowalewski

Department of Mechanical Engineering,
University of Minnesota,
Minneapolis, MN 55455

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014.

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online July 21, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(3), 030952 (Jul 21, 2014) (2 pages) Paper No: MED-14-1126; doi: 10.1115/1.4027119 History: Received February 21, 2014; Revised March 03, 2014

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Lanfranco, A. R., Castellanos, A. E., Desai, J. P., and Meyers, W. C., 2004, “Robotic Surgery: A Current Perspective,” Ann. Surg., 239(1), pp. 14–21. [CrossRef] [PubMed]
Novotny, P. M., Stoll, J. A., Dupont, P. E., and Howe, R. D., 2007, “Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound,” IEEE International Conference on Robotics and Automation, Rome, April 10–14, pp. 2655–2660. [CrossRef]
Van Den Berg, J., Miller, S., Duckworth, D., Hu, H., Wan, A., Fu, X.-Y., Goldberg, K., and Abbeel, P., 2010, “Superhuman Performance of Surgical Tasks by Robots Using Iterative Learning From Human-Guided Demonstrations,” IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3–7, pp. 2074–2081. [CrossRef]
Friedman, D., Kowalewski, T., Jovanovic, R., Rosen, J., and Hannaford, B., 2010, “Freeing the Serial Mechanism Designer From Inverse Kinematic Solvability Constraints,” Appl. Bionics Biomech., 7(3), pp. 209–216. [CrossRef]


Grahic Jump Location
Fig. 1

Experiment setup: felt tip marker in place of scalpel

Grahic Jump Location
Fig. 2

Control loop for human robot interaction

Grahic Jump Location
Fig. 3

Comparison of closed loop tracking with normal shaking of hand

Grahic Jump Location
Fig. 4

Comparison of closed loop tracking with 45 deg and 1 cm perturbation, simulating scalpel making a linear incision with 5 mm extents



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