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Related Experiment Video

Updated: May 18, 2026

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique
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A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

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A fully sensorized cooperative robotic system for surgical interventions.

Saúl Tovar-Arriaga1, José Emilio Vargas, Juan M Ramos

  • 1Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany. saul.tovar@uaq.mx

Sensors (Basel, Switzerland)
|September 27, 2012
PubMed
Summary

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This study presents a sensorized cooperative robot system for precise needle manipulation in clinical settings. The system achieves high accuracy, compensating for patient movement, enhancing robotic surgery safety and effectiveness.

Area of Science:

  • Medical Robotics
  • Surgical Navigation
  • Human-Robot Interaction

Background:

  • Clinical environments require precise and safe robotic manipulation systems.
  • Existing systems face challenges in accuracy, calibration, and adaptability to patient movement.

Purpose of the Study:

  • To present a fully sensorized cooperative robot system for needle manipulation.
  • To introduce novel control strategies for robot manipulation in clinical settings.
  • To evaluate the system's calibration and positioning accuracy.

Main Methods:

  • Utilized a DLR/KUKA Light Weight Robot III and a robot-driven angiographic C-arm system.
  • Developed a fast calibration method for system components.
  • Implemented new control strategies for robot manipulation and patient movement compensation.
Keywords:
light-weight robotrobot-driven C-armrobotic needle-placementsurgical robotics

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Published on: January 6, 2023

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Main Results:

  • Achieved a robot-navigation system calibration residual error of 0.81 mm (rms).
  • Demonstrated robotic system accuracy of 1.2 mm (rms) for targeting fixed points.
  • Reduced absolute positioning accuracy to 0.35 mm (rms) after closed-loop control, matching navigation camera accuracy.

Conclusions:

  • The developed sensorized cooperative robot system offers high precision for needle manipulation.
  • The implemented control strategies enable accurate targeting and compensation for patient movement.
  • This system enhances safety and effectiveness in robotic-assisted clinical procedures.