Miniaturized, Autoclavable Surgical Robot (Miniaturisierter, autoklavierbarer Roboter für die Chirurgie)

Abstract In this paper a design for a miniaturized, autoclavable robot for medicine is presented. The design is motivated by problems like size, visibility of the situs and the sterility of the operating field of known surgical robotics systems. The authors present a simple yet effective approach for closed loop control and a kinematics that addresses and solves these problems. Experiments show that properties like positioning precision and mechanical resistance during autoclaving are sufficient for certain clinical applications.

[1]  Philippe Cinquin,et al.  LER: the light endoscope robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[2]  John Kenneth Salisbury,et al.  The Intuitive/sup TM/ telesurgery system: overview and application , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  Andreas Hein,et al.  Architektur und Anwendungen eines zugelassenen Medizinroboters (Architecture and Applications of an Approved Medical Robotic System) , 2001 .

[4]  A. Hein,et al.  A surgical robot system for maxillofacial surgery , 1998, IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200).

[5]  Robert Stone,et al.  Comparison of Task Performance of the Camera-Holder Robots EndoAssist and Aesop , 2003, Surgical laparoscopy, endoscopy & percutaneous techniques.

[6]  Leo Joskowicz,et al.  Bone-mounted miniature robot for surgical procedures: Concept and clinical applications , 2003, IEEE Trans. Robotics Autom..