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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

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				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]