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Vision assisted control for manipulation using virtual fixtures: experiments at macro and micro scales

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4 Author(s)
Bettini, A. ; Dept. of Comput. Sci., Johns Hopkins Univ., Baltimore, MD, USA ; Lang, S. ; Okamura, A. ; Hager, G.

We present the design and implementation of a vision-based system for micron-scale, cooperative manipulation of a surgical tool. The system is based on a control algorithm that implements a broad class of guidance modes called virtual fixtures. A virtual fixture, like a real fixture, limits the motion of a tool to a prescribed class or range. The implemented system uses vision as a sensor for providing a reference trajectory, and the control algorithm then provides haptic feedback involving direct, shared manipulation of a surgical tool. We have tested this system on the JHU Steady Hand robot and provide experimental results for path following and positioning on structures at both macroscopic and microscopic scales.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

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