Next Article in Journal
An Enhanced MEMS Error Modeling Approach Based on Nu-Support Vector Regression
Previous Article in Journal
Dynamics of Ras Complexes Observed in Living Cells
Article Menu

Export Article

Open AccessArticle
Sensors 2012, 12(7), 9423-9447; doi:10.3390/s120709423

A Fully Sensorized Cooperative Robotic System for Surgical Interventions

Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany
Informatics Faculty, Autonomous University of Querétaro, Avenida de las ciencias s/n, Juriquilla, Querétaro, Qro. C.P. 76230, Mexico
Author to whom correspondence should be addressed.
Received: 18 June 2012 / Revised: 3 July 2012 / Accepted: 3 July 2012 / Published: 9 July 2012
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [4047 KB, uploaded 21 June 2014]   |  


In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. View Full-Text
Keywords: surgical robotics; robotic needle-placement; robot-driven C-arm; light-weight robot surgical robotics; robotic needle-placement; robot-driven C-arm; light-weight robot

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Tovar-Arriaga, S.; Vargas, J.E.; Ramos, J.M.; Aceves, M.A.; Gorrostieta, E.; Kalender, W.A. A Fully Sensorized Cooperative Robotic System for Surgical Interventions. Sensors 2012, 12, 9423-9447.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top