This paper describes motion primitives which solve some common recurrent problems encountered when manipulating deformable linear objects. As one example for the usefulness of these manipulations skills, the mounting of a leaf spring is presented here.
Objective: In some surgical specialties, e.g. orthopedics, robots are already used in the operating room for bony milling work. Oto- and otoneurosurgery may also greatly benefit by robotic enhanced precision. Study Design: Experimental study on robotic milling on oak wood and human temporal bone specimen. Methods: A standard industrial robot with a 6 degrees-of-freedom serial kinematics was used with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on CAD geometry data of a cochlear implant and an implantable hearing system. Results: The best suited strategy proofed to be the spiral horizontal milling mode with the burr held perpendicularly to the temporal bone surface. In order to avoid high grooves, the distance in between paths should equal half the radius of the cutting burr head. Due to the vibration of the robot’s own motors, a rather high oscillation of the standard deviation of forces was encountered. This oscillation dropped drastically to nearly 0 N, when the burr head reached contact with the dura mater due to its damping characteristics. The cutting burr could be moved a long time on the dura without damaging it, because of its rather blunt head. The robot moved the burr very smoothly according to the encountered resistances. Conclusion: This is the first development of an functioning robotic milling procedure for otoneurosurgery with force-based speed control. It is planned to implement ultrasound-based local navigation and to perform robotic mastoidectomy.
This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires, or leaf springs. It investigates usable features for the vision-based detection of a changing contact situation between a DLO and a rigid polyhedral obstacle and a classification of such contact state transitions. The result is a complete classification of contact state transitions and of the most significant features for each class. This knowledge enables reliable detection of changes in the DLO contact situation, facilitating implementation of sensor-based manipulation skills for all possible contact changes.
In many robotic applications, the teaching of points in space is necessary to register the robot coordinate system with the one of the application. Robot-human interaction is awkward and dangerous for the human because of the possibly large size and power of the robot, so robot movements must be predictable and natural. We present a novel hybrid control algorithm which provides the needed precision in small scale movements while allowing for fast and intuitive large scale translations.