Safety strategies for human-robot interaction in surgical environment

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Over past decade, robots have been appearing in the operating room. Robots enhance surgery by improving precision, repeatability, stability, and dexterity. These qualities coupled with the human surgeon's judgment capabilities make a formidable combination. There are, however, many limitations to the application of robotics to surgery. In practice, these robotic systems can be difficult to use because of the limited dexterity and sensory feedback, as well as the major issue of safety. We may be able to solve the difficulties with dexterity, sensory feedback and safety through the use of small multi-DOF actuators, medical imaging technology, and compliant robotic manipulators. This paper presents our efforts to improve the issues of dexterity, sensory feedback and safety. For dexterity, we have developed a surgical tool using a compact multi-DOF ultrasonic actuator. For sensory feedback, we have developed virtual fixture using 3D medical imaging technology, which can also enhance safety. We are currently developing a novel robotic mechanism that generates human arm-like compliant motion.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages5
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Double-actuator unit
  • Equilibrium point control
  • Medical imaging
  • Ultrasonic motor
  • Virtual fixture

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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