In this book, we present medical robotics, its evolution over the last 30 years in terms of architecture, design and control, and the main scientific and clinical contributions to the field.
For more than two decades, robots have been part of hospitals and have progressively become a common tool for the clinician. Because this domain has now reached a certain level of maturity it seems important and useful to provide a state of the scientific, technological and clinical achievements and still open issues.
This book describes the short history of the domain, its specificity and constraints, and mature clinical application areas. It also presents the major approaches in terms of design and control including man-machine interaction modes. A large state of the art is presented and many examples from the literature are included and thoroughly discussed.
It aims to provide both a broad and summary view of this very active domain as well as keys to understanding the evolutions of the domain and to prepare for the future. An insight to clinical evaluation is also proposed, and the book is finished with a chapter on future developments for intra-body robots.
1. Characteristics and State of the Art, Etienne Dombre, Michel De Mathelin and Jocelyne Troccaz.
2. Medical Robotics in the Service of the Patient, Alexandre Moreau-Gaudry, Philippe Cinquin.
3. Inter-operative Sensors and Registration, Jocelyne Troccaz.
4. Augmented Reality, Stéphane Nicolau, Luc Soler, Jacques Marescaux.
5. Design of Medical Robots, Etienne Dombre, Philippe Poignet and François Pierrot.
6. Vision-based Control, Jacques Gangloff, Florent Nageotte and Philippe Poignet.
7. Interaction Modeling and Force Control, Philippe Poignet and Bernard Bayle.
8. Tele-manipulation, Bernard Bayle and Laurent Barbé.
9. Comanipulation, Guillaume Morel, Jérôme Szewczyk and Marie-Aude Vitrani.
10.Towards Intracorporeal Robotics, Etienne Dombre, Nicolas Chaillet and Michel De Mathelin.
Jocelyne Troccaz gained her PhD in computer science and robotics from the Institut National Polytechnique de Grenoble in 1986. She currently holds a permanent research position at CNRS in France, and has worked in the field of medical robotics since 1990. Her collaborations with clinicians and companies have resulted in several systems which have been used in clinical routine for many years.