Microsurgical robots

Many microsurgical robots are based on force-reflecting master-slave configurations. This paradigm allows an operator to grasp the master manipulator and apply forces. Forces measured on the master are scaled and reproduced at the slave and, if unobstructed, will cause the slave to move accordingly. Likewise, forces encountered by the slave are scaled and reflected back to the master. This configuration allows position commands from the master to result in a reduced motion of the slave and for forces encountered by the slave to be amplified at the master. 

Hunter, I. W., et al., Ophthalmic microsurgical robot and associated virtual environment, Computers in Biology and Medicine, 1995,25(2) 173-182. 

Olds KC, Chalasani P, Pacheco-Lopez P, lordachita I, Akst LM, Taylor RH. Preliminary evaluation of a new microsurgical robotic system for head and neck surgery. In 2014 lEEE/RS] international conference on intelligent robots and systems (IROS 2014), p. 1276-81. IEEE 2014. 

Taylor, R., et al., A Steady-Hand Robotic System for Microsurgical Aagtnenmianr International Journal of Robotics Research, 1999,18(12). 

Kumar, R., et al., Preliminary Experiments in Cooperative Human/Robot Force Control for Robot Assisted Microsurgical Manipulation, in IEEE Conference on Robotics and Automation, 20(X), San Francisco. 

Berkelmaim, P. J., et al.. Performance Evaluation of a Cooperative Manipulation Microsurgical Assistant Robot Applied to Stapedotomy, in Medical Image Computing and Computer-Assisted Interventions (MIC-CAl 2001), 2001. 

Katz RD, Taylor JA, Rosson GD, Brown PR, Singh NK (2006) Robotics in plastic and reconstructive surgery use of a telemanipulator slave robot to perform microvascular anastomoses. J Reconstr Microsurg 22 53-57 Kelly PJ (2000) Stereotactic surgery what is past is prologue. Neurosurgery 46 16-27... 

Taylor RH, Jenson P, Whitcomb LL et al (1999) A steady-hand robotic system for microsurgical augmentation. Int J Robotics Res 18 1201-1210... 

R. Taylor et al., "A steady-hand robotic system for microsurgical augmentation," Int.. Robot. Res., 18 1201-1210, December 1999. 

G. Zong, Y. Hu, D. Li, and X. Sun, "Visually servoed suturing for robotic microsurgical keratoplasty," 2006 lEEE/RS Int. Conf. Intelligent Robots Syst. (IROS 2006), pp. 2358-2363, October 2006. 

Brett Bell received a PhD in biomedical engineering from the Purdue University, West Lafayette, Indiana, in 2009. He then joined the ARTORG Center for Biomedical Engineering at the University of Bern, Bern, Switzerland, to lead the robotic surgery group focused on microsurgical procedures on the lateral skull base. In 2015, Dr. Bell joined a company developing orthopedic robotic instruments. 

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