Visual servoing with an optical tracking system and a lightweight robot for laser osteotomy

This paper presents a visual servoing application with a fixed camera configuration for CO2 laser osteotomy. A multi camera system from ART is used to track the position of the robot and a skull via marker spheres that are attached to both. A CT scan from the skull is performed and segmented to acquire a 3D model. Inside the model the position for the robot for the laser ablation is planned. A 60 Hz update rate for the tracking system a and a 80 HZ update rate for the robot is sufficient to reposition the robot relative to the skull for CO2 laser ablation scenarios to ablate during motion, e.g. breathing motion. Also the accuracy of the lightweight robot is increased with the additional supervision of an optical tracking system. Accuracy improvement was measured with an FARO measurement arm. A visual servoing control schema is presented. The demonstrator shows a working visual servoing application for laser.