Sensor-based intra-operative navigation for robot-assisted keyhole surgery

This paper ist based on the theory that manipulators represent an intermediate step in the development of robot-assisted keyhole surgery. The main reason for using only manipulators for elastic tissue instead of robots is because of a lack of suitable sensor data for the programming of robots. This paper presents a measurement device for the localized acquisition of data which can be used for realizing intra-operative navigation.