Virtual Remote Center of Motion Control for Needle Placement Robots

  title={Virtual Remote Center of Motion Control for Needle Placement Robots},
  author={Emad Boctor and Robert J. Webster and Herv{\'e} Mathieu and Allison M. Okamura and Gabor Fichtinger},
  journal={Computer aided surgery : official journal of the International Society for Computer Aided Surgery},
  volume={9 5},
OBJECTIVE We present an algorithm that enables percutaneous needle-placement procedures to be performed with unencoded, unregistered, minimally calibrated robots while removing the constraint of placing the needle tip on a mechanically enforced Remote Center of Motion (RCM). MATERIALS AND METHODS The algorithm requires only online tracking of the surgical tool and a five-degree-of-freedom (5-DOF) robot comprising three prismatic DOF and two rotational DOF. An incremental adaptive motion… CONTINUE READING
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