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Peter Knappe, Sebastian Pieck, Jürgen Wahrburg

Components and Architecture of a Navigated Robot System for Surgical Applications

Keywords: Navigation, surgical robots, closed loop control

This contribution presents a universal surgical assistance system that is characterized by the integration of navigation and robotics. The approach facilitates new highly interactive operation modes of the robot component and combines the specific advantages of both system parts: The navigation-system uses an electrical-optical 3D-digitizing system for a fast and precise patient-registration while the robot arm can be considered as a mechatronic supplement of the navigation-system. It is used for precise positioning and guiding the surgical instruments and avoids problems caused by unintentional tremor or slipping. An additional advantage results from the capability of the robot-arm to on-line track small patient-movements by maintaining a constant alignment between surgical instrument and patient structure. The achievable static accuracy of the overall system is discussed.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 53, 12/2005
Pages: 615 - 626

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