Image-guided robotic mastoidectomy using human-robot collaboration control

Hoon Lim; Jung Min Han; Jaesung Hong; Byung Ju Yi; Seung Hwan Lee; Jin Hyeok Jeong; Nozomu Matsumoto; Masamichi Oka; Shizuo Komune; Makoto Hashizume

doi:10.1109/ICMA.2011.5985720

Image-guided robotic mastoidectomy using human-robot collaboration control

Hoon Lim, Jung Min Han, Jaesung Hong, Byung Ju Yi, Seung Hwan Lee, Jin Hyeok Jeong, Nozomu Matsumoto, Masamichi Oka, Shizuo Komune, Makoto Hashizume

Department of Robotics and Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages	549-554
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2011.5985720
State	Published - 2011
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China Duration: 7 Aug 2011 → 10 Aug 2011

Publication series

Name	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Conference

Conference	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Country/Territory	China
City	Beijing
Period	7/08/11 → 10/08/11

Keywords

Admittance control
Image-guided navigation
Mastoidectomy
Warning system

Access to Document

10.1109/ICMA.2011.5985720

Cite this

Lim, H., Han, J. M., Hong, J., Yi, B. J., Lee, S. H., Jeong, J. H., Matsumoto, N., Oka, M., Komune, S., & Hashizume, M. (2011). Image-guided robotic mastoidectomy using human-robot collaboration control. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 549-554). Article 5985720 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). https://doi.org/10.1109/ICMA.2011.5985720

@inproceedings{0beb3dc0fcf64cf29b4854ab7494d340,

title = "Image-guided robotic mastoidectomy using human-robot collaboration control",

abstract = "This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy.",

keywords = "Admittance control, Image-guided navigation, Mastoidectomy, Warning system",

author = "Hoon Lim and Han, \{Jung Min\} and Jaesung Hong and Yi, \{Byung Ju\} and Lee, \{Seung Hwan\} and Jeong, \{Jin Hyeok\} and Nozomu Matsumoto and Masamichi Oka and Shizuo Komune and Makoto Hashizume",

year = "2011",

doi = "10.1109/ICMA.2011.5985720",

language = "English",

isbn = "9781424481149",

series = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

pages = "549--554",

booktitle = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

note = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 ; Conference date: 07-08-2011 Through 10-08-2011",

}

Lim, H, Han, JM, Hong, J, Yi, BJ, Lee, SH, Jeong, JH, Matsumoto, N, Oka, M, Komune, S & Hashizume, M 2011, Image-guided robotic mastoidectomy using human-robot collaboration control. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985720, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp. 549-554, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, China, 7/08/11. https://doi.org/10.1109/ICMA.2011.5985720

Image-guided robotic mastoidectomy using human-robot collaboration control. / Lim, Hoon; Han, Jung Min; Hong, Jaesung et al.
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 549-554 5985720 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Image-guided robotic mastoidectomy using human-robot collaboration control

AU - Lim, Hoon

AU - Han, Jung Min

AU - Hong, Jaesung

AU - Yi, Byung Ju

AU - Lee, Seung Hwan

AU - Jeong, Jin Hyeok

AU - Matsumoto, Nozomu

AU - Oka, Masamichi

AU - Komune, Shizuo

AU - Hashizume, Makoto

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N2 - This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy.

AB - This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy.

KW - Admittance control

KW - Image-guided navigation

KW - Mastoidectomy

KW - Warning system

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M3 - Conference contribution

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BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

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Y2 - 7 August 2011 through 10 August 2011

ER -

Image-guided robotic mastoidectomy using human-robot collaboration control

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