Using a Force-Controlled Robot for Probing-Based Registration and Automated Bone Drilling in Pedicle Screw Placement Procedures.
Saman VafadarElie SaghbinyAntoine HarléGuillaume MorelPublished in: ISMR (2023)
Keyphrases
- mobile robot
- computer controlled
- sagittal plane
- end effector
- ct and mr images
- tactile sensing
- human robot interaction
- image registration
- robotic manipulator
- three dimensional
- maxillofacial surgery
- force sensing
- force control
- autonomous robots
- range sensors
- fully automated
- robot navigation
- force feedback
- robot manipulators
- human operators
- vision system
- path planning
- position and orientation
- point cloud
- robot arm
- real time
- position control
- contact force
- x ray images
- robotic systems
- multi robot
- computer assisted
- surgical instruments
- computer aided
- clinical workflow
- control system
- robot control