Abstract
This paper deals with an ongoing research program in robotized reconstructive surgery (especially for skin harvesting) with a mechanical system under force control. The constraints of the process are firstly described in terms of medical and robotic constraints. Then, we present an active mechanical structure which suits to our needs whose interesting features are a simple and closed-form solution to the Inverse Geometric Model (IGM), the ability to handle the tool without collision and a simple mechanical design. In a third part, we present the application and the controller architecture from a working point of view and the force controller chosen. Finally general and particular safety issues for medical robots are discussed and solutions are presented to turn the application intrinsically safe.
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© 2001 Springer-Verlag Berlin Heidelberg
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Duchemin, G., Dombre, E., Pierrot, F., Poignet, P., Dégoulange, E. (2001). SCALPP: A Safe Methodology to Robotize Skin Harvesting. In: Niessen, W.J., Viergever, M.A. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2001. MICCAI 2001. Lecture Notes in Computer Science, vol 2208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45468-3_37
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DOI: https://doi.org/10.1007/3-540-45468-3_37
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