Title :
Robotic Compensation of Biological Motion to Enhance Surgical Accuracy
Author :
Riviere, Cameron N. ; Gangloff, Jacques ; De Mathelin, Michel
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA
Abstract :
Robotic technologies provide new ways to compensate quasi-periodic biological motion, enabling higher surgical accuracy without invasive measures such as cardiopulmonary bypass. This paper describes current research in robotic compensation of hand tremor, respiratory motion, and heartbeat during surgical procedures. An analysis of each physiological motion pattern is provided, as well as a description of novel compensation techniques
Keywords :
medical robotics; motion compensation; surgery; biological motion; cardio-pulmonary bypass; computer-aided surgery; hand tremor; heartbeat; medical robotics; physiological motion compensation; physiological motion pattern; respiratory motion; robotic compensation; surgical accuracy; Abdomen; Cardiology; Heart beat; Medical robotics; Microsurgery; Motion analysis; Motion compensation; Robots; Surgery; Surges; Computer-aided surgery; heartbeat; medical robotics; physiological motion compensation; respiration; tremor;
Journal_Title :
Proceedings of the IEEE
DOI :
10.1109/JPROC.2006.880722
