Hippocrate: a safe robot arm for medical applications with force feedback
| Autor: | Pierre Caron, Jérôme Gariepy, Etienne Dombre, Sylvie Boudet, François Pierrot, E. Degoulange, Loïc Urbain, Jean-Louis Megnien |
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| Rok vydání: | 1999 |
| Předmět: |
Scheme (programming language)
Arteriosclerosis Computer science Health Informatics Risk Assessment Feedback law.invention Computer graphics User-Computer Interface Industrial robot law Control theory Computer Graphics Image Processing Computer-Assisted Humans Radiology Nuclear Medicine and imaging Simulation Haptic technology computer.programming_language Equipment Safety Radiological and Ultrasound Technology Angiography Models Cardiovascular Arteries Equipment Design Robotics Skin Transplantation Magnetic Resonance Imaging Computer Graphics and Computer-Aided Design Elasticity Carotid Arteries Robotic systems Calibration Feasibility Studies Disease prevention Computer Vision and Pattern Recognition Burns Tomography X-Ray Computed Robotic arm computer |
| Zdroj: | Medical Image Analysis. 3:285-300 |
| ISSN: | 1361-8415 |
| DOI: | 10.1016/s1361-8415(99)80025-5 |
| Popis: | We have developed a robotic system to assist doctors when they are moving ultrasonic probes on a patient's skin while exerting a given effort. The probes are used to monitor arteries for cardiovascular disease prevention, namely to reconstruct the three-dimensional profile of arteries. A preliminary feasibility study making use of an industrial robot has been made to validate the force control scheme. It has proven the interest of the robotized approach for such medical applications where force control is needed. In order to comply with safety constraints, a dedicated robotic system 'Hippocrate' has been designed. This paper describes the arm and the controller architectures, with emphasis on design strategies selected to meet safety requirements. Preliminary in vivo results are presented as well as a possible new application of Hippocrate as a tool for reconstructive surgery. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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