A steady-hand robotic system for microsurgical augmentation

Russell Taylor, Patrick Jensen, Louis Whitcomb, Aaron Barnes, Rajesh Kumar, Dan Stoianovici, Puneet Gupta, Zheng Xian Wang, Eugene de Juan, Louis Kavoussi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

53 Scopus citations


This paper reports the development of a robotic system designed to extend a human’s ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. Our novel approach, which we call “steady hand” micromanipulation, is for tools to be held simultaneously both by the operator’s hand and a specially designed actively controlled robot arm. The robot’s controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of handheld tools for tasks characterized by compliant or semi-rigid contacts with the environment.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention –MICCAI 1999 - 2nd International Conference, Proceedings
EditorsChris Taylor, Alain Colchester
PublisherSpringer Verlag
Number of pages11
ISBN (Print)354066503X, 9783540665038
StatePublished - 1999
Event2nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1999 - Cambridge, United Kingdom
Duration: Sep 19 1999Sep 22 1999

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other2nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1999
Country/TerritoryUnited Kingdom

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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