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This work presents a novel robotic simulator employing a collaborative robot within a co-manipulation framework for training in the epidural anesthesia procedure. The simulator comprises two stages: (1) free positioning of the needle in 3D space, and (2) controlled insertion along the needle axis, with virtual external perturbations introduced to simulate tissue resistance. Admittance and impedance controllers were implemented for these tasks, and their performances were evaluated and compared.

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Robot-Assisted Simulator for Epidural Anesthesia

  • 会议论文

  • 发表日期：

    2025年

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  • Kevin Gaitan,
  • Juan Sandoval,
  • Pierre-Philippe Robet,
  • Maxime Gautier,
  • Yannick Aoustin

摘要

This work presents a novel robotic simulator employing a collaborative robot within a co-manipulation framework for training in the epidural anesthesia procedure. The simulator comprises two stages: (1) free positioning of the needle in 3D space, and (2) controlled insertion along the needle axis, with virtual external perturbations introduced to simulate tissue resistance. Admittance and impedance controllers were implemented for these tasks, and their performances were evaluated and compared.