This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Similar articles in Web of Science Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via HighWire Citing Articles via Web of Science (19) Citing Articles via Google Scholar Citing Articles via Scopus Google Scholar Articles by Taylor, R. Articles by Kavoussi, L. Search for Related Content Social Bookmarking                         What's this?

A Steady-Hand Robotic System for Microsurgical Augmentation

Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA

Pat Jensen

Wilmer Eye Institute, Johns Hopkins Medical Institutions, Johns Hopkins University, Baltimore, MD, USA

Louis Whitcomb

Aaron Barnes

Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA

Rajesh Kumar

Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA

Dan Stoianovici

James Buchanan Brady Urological Institute, Johns Hopkins Medical Institutions, Johns Hopkins University Baltimore, MD, USA

Puneet Gupta

Wilmer Eye Institute, Johns Hopkins Medical Institutions, Johns Hopkins University Baltimore, MD, USA

Zhengxian Wang

Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA

Eugene Dejuan

Wilmer Eye Institute, Johns Hopkins Medical Institutions, Johns Hopkins University Baltimore, MD, USA

Louis Kavoussi

James Buchanan Brady Urological Institute, Johns Hopkins Medical Institutions, Johns Hopkins University Baltimore, MD, USA

This paper reports the development of a robotic system designed to extend a human’s ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgment, sensory integration, and hand-eye coordination. Our novel approach, which we call steady-hand micromanipulation, is for tools to be held simultaneously both by the operator’s hand and a specially designed actively controlled robot arm. The robot’s controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of hand-held tools for tasks characterized by compliant or semi-rigid contacts with the environment.

Key Words: medical robotics • microsurgery • human performance augmentation • cooperative control • steady-hand manipulation

The International Journal of Robotics Research, Vol. 18, No. 12, 1201-1210 (1999)
DOI: 10.1177/02783649922067807


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?

This article has been cited by other articles:

				D. Kragic, P. Marayong, M. Li, A. M. Okamura, and G. D. Hager Human-Machine Collaborative Systems for Microsurgical Applications The International Journal of Robotics Research, September 1, 2005; 24(9): 731 - 741. [Abstract] [PDF]

				P. Marayong and A. M. Okamura Speed-Accuracy Characteristics of Human-Machine Cooperative Manipulation Using Virtual Fixtures With Variable Admittance Human Factors: The Journal of the Human Factors and Ergonomics Society, January 1, 2004; 46(3): 518 - 532. [Abstract] [PDF]