A new ENT microsurgery robot: Error analysis and implementation

Chao He; Kevin Olds; Iulian Iordachita; Russell Taylor

doi:10.1109/ICRA.2013.6630727

A new ENT microsurgery robot: Error analysis and implementation

Chao He, Kevin Olds, Iulian Iordachita, Russell Taylor

Whiting School of Engineering

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

13 Scopus citations

Abstract

This paper reports the error specifications and error analysis for a new cooperatively controlled ENT microsurgery robot. The new robot is designed for three specific ENT surgeries, endonasal skull base surgery, transoral laryngeal surgery, and cochlear implant surgery. The design requirements for the robot resolution, accuracy, stiffness, and repeatability for these surgery types are discussed and analyzed, and the required robot parameters are calculated. The mechanical design of the robot is then analyzed and shown to fulfill these requirements in the case where it is in its home configuration. The analysis is then extended to cover the robot's whole workspace.

Original language	English (US)
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages	1221-1227
Number of pages	7
DOIs	https://doi.org/10.1109/ICRA.2013.6630727
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: May 6 2013 → May 10 2013

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	5/6/13 → 5/10/13

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2013.6630727

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A new ENT microsurgery robot: Error analysis and implementation. / He, Chao; Olds, Kevin; Iordachita, Iulian et al.
2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 1221-1227 6630727 (Proceedings - IEEE International Conference on Robotics and Automation).

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

He, C, Olds, K, Iordachita, I & Taylor, R 2013, A new ENT microsurgery robot: Error analysis and implementation. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6630727, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1221-1227, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 5/6/13. https://doi.org/10.1109/ICRA.2013.6630727

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AB - This paper reports the error specifications and error analysis for a new cooperatively controlled ENT microsurgery robot. The new robot is designed for three specific ENT surgeries, endonasal skull base surgery, transoral laryngeal surgery, and cochlear implant surgery. The design requirements for the robot resolution, accuracy, stiffness, and repeatability for these surgery types are discussed and analyzed, and the required robot parameters are calculated. The mechanical design of the robot is then analyzed and shown to fulfill these requirements in the case where it is in its home configuration. The analysis is then extended to cover the robot's whole workspace.

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A new ENT microsurgery robot: Error analysis and implementation

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