Robot-assisted superficial hyperthermia treatments: the ROBHOT system

This paper presents the design, implemetation and experimental validation of the ROBHOT Technology Demonstrator, a new system for robot-assisted superficial hyperthermia treatments. The system features impedance-based interaction control for accurate and safe delivery of the treatment, a digital twin of the operative setup, communication modules with a pre-operative planning software. Results of the system validation in a relevant experimental environment are reported. A video clip presenting an overview of the system and the validation experiments is available at~\url{https://youtu.be/rNxMaD-teNo}