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DAANS: Double Action Actuator for Neuro Surgery

contact: eng. Vanni Zanotto
centre: UniPd - DIMEG
start: 2002
Topic: Medicals
Project: NICARO


DAANS is a system for neurosurgery, which allows the surgeon to control position, movements and rotation of surgical instruments, in particular of an X-Ray source called PRS, inside the brain. The robotic system is made up by a master-slave haptic interface: the surgeon interacts with a console that represents the command interface for the robotic actuator. The X-Ray source movement is commanded by the operator acting on the master. The master-slave system is haptic, i.e. the contact forces occurring during slave and environment interaction are felt by the operator.


Publications

P. Boscariol, A. Gasparetto, R. Vidoni, V. Zanotto
A delayed force reflecting haptic controller for master-slave neurosurgical robots
Advanced Robotics 19 (2), pp. 127-138 (2015)

V. Zanotto, P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, N. Di Lorenzo, P. Gallina, A. Dalla Via , A. Rossi
A master-slave haptic system for neurosurgery
Applied Bionics and Biomechanics 8 (2011), pp- 209-220

A. Gasparetto and V. Zanotto
Toward an optimal performance index for neurosurgical robot's design
Robotica (2010), volume 28, issue 02, pp. 279-296

V. Zanotto, A. Gasparetto, P. Boscariol, A. Lanzutti, R. Vidoni, A. Rossi
Sistema aptico master-slave per neurochirurgia robotizzata basato su NI CompactRIO e NI LabVIEW
Proceedings of the NIDays 2010. Roma, February, 24 (2010), pp. 63-64 (2010 Best Appl. 'N.Chiari' Award Winner)

A. Gasparetto, R. Vidoni, V. Zanotto
DFORCE: Delayed FOrce ReferenCE control for master–slave robotic systems
Mechatronics, Volume 19, Issue 5, August 2009, Pages 639-646

A. Gasparetto, R. Vidoni, V. Zanotto
NEUROBUD: a Novel Robot for Neurosurgery
Proceedings of the the 16th International Workshop in Alpe-Adria Danube Region (RAAD 2007), Ljubljana (Slovenia), June 7-9, 2007

A.Rossi, A.Gasparetto, A.Trevisani, and V.Zanotto
A robotic approach to stereotactic radio-surgery
ASME 7th Biennial Conference on Engineering Systems Design and Analysis (ESDA2004) July 19–22, 2004 , Manchester, England Volume 3 ISBN: 0-7918-4175

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