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2008
IEEE

Human-guided surgical robot system for spinal fusion surgery: CoRASS

9 years 4 months ago
Human-guided surgical robot system for spinal fusion surgery: CoRASS
— There are two main limitations in the conventional robot-assisted spinal fusion surgery. Since the end effector in the state of art has a role of guiding the insertion pose of a screw only, i) convenience that can be obtained when the robot intervenes in the surgery more actively could be limited. ii) The insertion pose of a screw provided by the robots could be deteriorated by surgeon’s resisting force since he should insert a screw with his own hand withstanding the large reaction force transmitted through the drilling handle. To overcome those limitations, this paper proposes a novel approach for spinal fusion, wherein the robot performs the spinal fusion using the equipped end effector following surgeon’s guide. We developed a dexterous small-sized the end effector that can perform previous gimleting and screwing tasks into the vertebrae. A five-DOF robot body that has kinematically-closed structure guides the insertion pose of a screw and resists strong reaction force fi...
Jongwon Lee, Keehoon Kim, Wan Kyun Chung, Seungmoo
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Jongwon Lee, Keehoon Kim, Wan Kyun Chung, Seungmoon Choi, Young Soo Kim
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