MEMS motion tracking system for surgical robot ROCH-1

The paper presents an alternative approach to the construction of the surgical robot trajectory adjuster by the use of MEMS type sensors: compass, gyro, and accelerometer. A miniature module with these systems can be placed directly to the surgeon´s hand-or on the operator´s fingers. The advantage of this adjuster is not only its low price, but also a high level of functionality associated with the extensibility regarding new software modules. An example of built-in function can be a generator of the pathway coming to the surgery field which uses spline polynomials in the representation of Catmull-Rom. In addition, the adjuster of this type is very small and easy to apply on a mobile system, like ambulance, military field ambulance etc.