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Admittance control of a handheld microsurgical instrument

Giulio Russo, Sara Moccia, Joseph N. Martel, Alessandro Perin, Raymond F. Sekula, Luca Bascetta, Elena De Momi and Cameron N. Riviere
Conference Paper, Proceedings of Hamlyn Symposium on Medical Robotics, pp. 109 - 110, June, 2019
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Abstract

The current state of the art in neurosurgery for deep-seated brain tumors and cerebrovascular lesions still yields high postoperative rates of cerebral infarction and cranial nerve deficits. In particular, petroclival meningioma resection is one of the most challenging and risky procedures: reported rates of permanent cranial nerve deficits range from 20% to 76%, while the rate of gross total resection ranges from 20% to 85%. Robotics has potential to reduce morbidity and mortality by performing assistive functions such as reduction of unwanted motion and minimization of force applied to nerves and vascular structures. Handheld robotic instruments for neurosurgery may offer advantages in terms of cost and ease of use compared to other approaches such as teleoperated or shared-control robots. This paper describes a method for minimization of force applied by an active handheld robotic micromanipulator known as Micron.

BibTeX

@conference{Riviere-2019-119681,
author = {Giulio Russo and Sara Moccia and Joseph N. Martel and Alessandro Perin and Raymond F. Sekula and Luca Bascetta and Elena De Momi and Cameron N. Riviere},
title = {Admittance control of a handheld microsurgical instrument},
booktitle = {Proceedings of Hamlyn Symposium on Medical Robotics},
year = {2019},
month = {June},
pages = {109 - 110},
keywords = {Medical robotics; surgery; force control; motion compensation},
}
2020-04-24T10:23:08-04:00

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