{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,3]],"date-time":"2025-12-03T17:37:12Z","timestamp":1764783432024,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2012,7,9]],"date-time":"2012-07-09T00:00:00Z","timestamp":1341792000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR\/KUKA Light Weight Robot III especially designed for safe human\/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of \u00b10.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of \u00b10.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements.<\/jats:p>","DOI":"10.3390\/s120709423","type":"journal-article","created":{"date-parts":[[2012,7,9]],"date-time":"2012-07-09T11:01:02Z","timestamp":1341831662000},"page":"9423-9447","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["A Fully Sensorized Cooperative Robotic System for Surgical Interventions"],"prefix":"10.3390","volume":"12","author":[{"given":"Sa\u00fal","family":"Tovar-Arriaga","sequence":"first","affiliation":[{"name":"Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany"},{"name":"Informatics Faculty, Autonomous University of Quer\u00e9taro, Avenida de las ciencias s\/n, Juriquilla, Quer\u00e9taro, Qro. C.P. 76230, Mexico"}]},{"given":"Jos\u00e9 Emilio","family":"Vargas","sequence":"additional","affiliation":[{"name":"Informatics Faculty, Autonomous University of Quer\u00e9taro, Avenida de las ciencias s\/n, Juriquilla, Quer\u00e9taro, Qro. C.P. 76230, Mexico"}]},{"given":"Juan M.","family":"Ramos","sequence":"additional","affiliation":[{"name":"Informatics Faculty, Autonomous University of Quer\u00e9taro, Avenida de las ciencias s\/n, Juriquilla, Quer\u00e9taro, Qro. C.P. 76230, Mexico"}]},{"given":"Marco A.","family":"Aceves","sequence":"additional","affiliation":[{"name":"Informatics Faculty, Autonomous University of Quer\u00e9taro, Avenida de las ciencias s\/n, Juriquilla, Quer\u00e9taro, Qro. C.P. 76230, Mexico"}]},{"given":"Efren","family":"Gorrostieta","sequence":"additional","affiliation":[{"name":"Informatics Faculty, Autonomous University of Quer\u00e9taro, Avenida de las ciencias s\/n, Juriquilla, Quer\u00e9taro, Qro. C.P. 76230, Mexico"}]},{"given":"Willi A.","family":"Kalender","sequence":"additional","affiliation":[{"name":"Institute of Medical Physics, Friedrich-Alexander-University Erlangen-Nuremberg, Henkestr. 91, 91052 Erlangen, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2012,7,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1109\/10.1354","article-title":"A robot with improved absolute positioning accuracy for CT-guided stereotactic brain surgery","volume":"35","author":"Kwoh","year":"1988","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_2","unstructured":"Cleary, K. (September, January 1\u2013). Medical Robotics and the Operating Room of the Future. 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