Standard Deviation from the Average Cutting Velocity as a Criterion for Comparing Robot Trajectories and Manual Movements of a Doctor for Performing Surgical Operations in Maxillofacial Surgery - Volume 7, No. 3, May 2018 - IJMERR


Standard Deviation from the Average Cutting Velocity as a Criterion for Comparing Robot Trajectories and Manual Movements of a Doctor for Performing Surgical Operations in Maxillofacial Surgery

Andrei A. Vorotnikov 1, Maxim A. Buinov 1, Semen V. Bushuev 1, Yuri V. Poduraev 1, and Andrei A. Chunihin 2
1. MSTU “STANKIN”, Moscow, Russia
2. MSUMD named after A.I. Evdokimov, Moscow, Russia
Abstract — This article presents experimental studies comparing trajectories obtained from the movements of a medical instrument by a surgeon and the robot KUKA LWR4 +. The comparison is made according to one of the four main criteria – standard deviation from the average cutting velocity. Such metrological studies are a method of justifying the expediency of using a robot for medical operations. This criterion can be used to compare trajectories when performing medical operations in maxillofacial surgery using a diode laser. The presented comparison criterion is based on the ISO 9283 standard. In addition to the main criterion, there are 2 additional ones. The trajectories for comparison were obtained by scanning the movements of a medical instrument using a coordinate measuring machine - the laser tracker LTD800. With the use of a robot, it is possible to achieve higher accuracy of trajectories by the velocity of movement of the medical instrument in comparison with a surgeon. 

Index Terms — medical robotics, human–machine cooperative system, surgical assistants, laser tracker, trajectory evaluation, accuracy, diode laser

Cite: Andrei A. Vorotnikov, Maxim A. Buinov, Semen V. Bushuev, Yuri V. Poduraev, and Andrei A. Chunihin, "Standard Deviation from the Average Cutting Velocity as a Criterion for Comparing Robot Trajectories and Manual Movements of a Doctor for Performing Surgical Operations in Maxillofacial Surgery," International Journal of Mechanical Engineering and Robotics Research, Vol. 7, No. 3, pp. 319-323, May 2018. DOI: 10.18178/ijmerr.7.3.319-323
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