naa a22 4500 510807305 CHVBK 20180411083424.0 cr unu---uuuuu 180411e20130501xx s 000 0 eng 10.1007/s11548-012-0791-5 doi (NATIONALLICENCE)springer-10.1007/s11548-012-0791-5 Design, implementation and evaluation of an independent real-time safety layer for medical robotic systems using a force-torque-acceleration (FTA) sensor [Elektronische Daten] [Lars Richter, Ralf Bruder] Purpose Most medical robotic systems require direct interaction or contact with the robot. Force-Torque (FT) sensors can easily be mounted to the robot to control the contact pressure. However, evaluation is often done in software, which leads to latencies. Methods To overcome that, we developed an independent safety system, named FTA sensor, which is based on an FT sensor and an accelerometer. An embedded system (ES) runs a real-time monitoring system for continuously checking of the readings. In case of a collision or error, it instantaneously stops the robot via the robot's external emergency stop. Results We found that the ES implementing the FTA sensor has a maximum latency of $$1\pm 0.03$$ ms to trigger the robot's emergency stop. For the standard settings in the application of robotized transcranial magnetic stimulation, the robot will stop after at most 4mm. Conclusion Therefore, it works as an independent safety layer preventing patient and/or operator from serious harm. CARS, 2012 Safety nationallicence Medical robotics nationallicence Real-time system nationallicence Force-torque sensor nationallicence Acceleration sensor nationallicence Robotized transcranial magnetic stimulation nationallicence Richter Lars Institute for Robotics and Cognitive Systems, University of Lübeck, Ratzeburger Allee 160, 23562, Lüebeck, Germany aut Bruder Ralf Institute for Robotics and Cognitive Systems, University of Lübeck, Ratzeburger Allee 160, 23562, Lüebeck, Germany aut International Journal of Computer Assisted Radiology and Surgery Springer-Verlag 8/3(2013-05-01), 429-436 1861-6410 8:3<429 2013 8 11548 https://doi.org/10.1007/s11548-012-0791-5 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11548-012-0791-5 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Richter Lars Institute for Robotics and Cognitive Systems, University of Lübeck, Ratzeburger Allee 160, 23562, Lüebeck, Germany aut NATIONALLICENCE 700 1- Bruder Ralf Institute for Robotics and Cognitive Systems, University of Lübeck, Ratzeburger Allee 160, 23562, Lüebeck, Germany aut NATIONALLICENCE 773 0- International Journal of Computer Assisted Radiology and Surgery Springer-Verlag 8/3(2013-05-01), 429-436 1861-6410 8:3<429 2013 8 11548 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer