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Precision Robot-Assisted Surgery with Motion Feedback

: Wapler, M.; Weisener, T.; Urban, V.

Dillmann, R.; Holler, E.; Meinzer, H.P. ; International Advanced Robotics Programme -IARP-; Forschungszentrum Karlsruhe GmbH:
2nd Workshop on Medical Robotics 1997. Proceedings
Karlsruhe: Kernforschungszentrum, 1997
ISBN: 3-923704-19-4
Workshop on Medical Robotics <2, 1997, Heidelberg>
Conference Paper
Fraunhofer IPA ()
Cockpit; hexapod; Medizintechnik; Minimalinvasive Chirurgie; Minimally Invasive Surgery; Operationscockpit; Roboter; Sub-millimeter Chirurgie

This paper describes a test prototype for precision robot-assisted surgery using a hexapod operating robot and a movable operating cockpit. The objective of the work described is twofold: 1: To evaluate the use of hexapod robots for precisely manipulating endoscopes and surgical instruments in submillimeter surgery. 2: To test a new user interface concept based on motion feedback. Based on the principle of a flight simulator, the aim is to give the surgeon motion cues in addition to the endoscope image, to assist his spatial orientation. The paper gives a detailed description of the system components and the potential applications.