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Robotic Compensation of Biological Motion to Enhance Surgical Accuracy

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3 Author(s)
Riviere, C.N. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA ; Gangloff, J. ; de Mathelin, M.

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

Published in:

Proceedings of the IEEE  (Volume:94 ,  Issue: 9 )