Abstract
The main drawback of current robot assisted methods is the additional expenditure for planning as well as technical preparation. The goal of this project was the realisation of an autoclavable mobile miniature robot which can be integrated easily into the standard OR, and minimises the additional technical preparation. The new miniature robot consists of an autoclavable-positioning unit with two or four active and two passive axes (position at z-axis and rotation around z-axis). The unit is positioned versus the patient under navigation control and is fixed rigidly by a mechanical arm. The system integrates the robot's workspace and the planning model within an optical and electromechanical controlled execution mode. The system reaches an absolute accuracy of about 0.3 mm reproducibility equal to competitive navigation and robot assisted systems. Forces of up to 20 N can be generated by the positioning unit. The system is fully compatible to the standard OR and its accuracy as well as its stability is high. Due to its transparent system structure and modular concept, the miniature robot can be used within a wide range of medical applications, such as the insertion of extraoral implants and the milling of bone.
| Original language | English |
|---|---|
| Pages (from-to) | 555-560 |
| Number of pages | 6 |
| Journal | International Congress Series |
| Volume | 1256 |
| Issue number | C |
| DOIs | |
| State | Published - 1 Jun 2003 |
| Externally published | Yes |
Keywords
- Autoclavable interactive miniature robot
- Dynamic force feedback measurement