Control algorithms for interactive shaping [surgical robots]

Author

Hein, Andreas ; Lueth, Tim C.

Author_Institution

Surgical Robotics Lab., Clinic for Maxillofacial Surg., Berlin, Germany

Volume

2

fYear

2001

fDate

2001

Firstpage

2025

Abstract

In this paper a robotic system for the application in head and spinal surgery is described. The system, developed as the Surgical Robotics Lab (SRL), is distinguished from other systems by the complete interactive control by the surgeon. From the viewpoint of telemanipulation it can be interpreted as a combined master/slave manipulator. This system has already been applied clinically in maxillofacial surgery for the exact placement of implants. In this paper extensions are described for the use in spinal surgery. The advantages and arising problems are described, especially for shaping at vertebrae for the decompression of the nerve channel.

Keywords

interactive systems; manipulators; medical robotics; surgery; telerobotics; SRL; Surgical Robotics Lab; combined master/slave manipulator; head surgery; implant placement; interactive control; interactive shaping; maxillofacial surgery; nerve channel decompression; robotic system; spinal surgery; telemanipulation; vertebrae; Control systems; Implants; Manipulators; Master-slave; Medical robotics; Robots; Shape control; Spine; Surgery; Surges;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932905

Filename

932905