Publication Date:
2019-07-13
Description:
The work reported in this paper is the result, of a collaboration between researchers at the Jet Propulsion Laboratory and Steve Charles, MD, a vitreo-retinal surgeon. The Robot Assisted MicroSurgery (RAMS) telerobotic workstation developed at JPL is a prototype of a system that will be completely under the manual control of a surgeon. The system has a slave robot that will hold surgical instruments. The slave robot motions replicate in six degrees of freedom those of tile. surgeon's hand measured using a master input device with a surgical instrument, shaped handle. The surgeon commands motions for the instrument by moving the handle in the desired trajectories. The trajectories are measured, filtered, and scaled down then used to drive the slave robot.
Keywords:
Aerospace Medicine
Type:
URC97166
,
NASA University Research Centers Technical Advances in Education, Aeronautics, Space, Autonomy, Earth and Environment; 1; 988-993
Format:
application/pdf
Permalink