New therapies, such as cell implants, will in future require teleoperators capable of repeatable positioning accuracy of 10 mm and better. This paper describes the design of a Stewart platform (hexapod robot system) which can be used for precision microsurgery in a number of different medical disciplines. The system design is discussed in detail and an overview of potential applications is given. Also, results are reported on the application in neuroendoscopy.
Get full access to this article
View all access options for this article.
References
1.
Bauer, A., Lahmer, A. and Börner, M.1996: Robot-assisted surgery in total hip replacement - concept and clinical experience. Computer Aided Surgery3, 13-13.
2.
Brandt, G., Radermacher, K., Lavallée, S., Staudte, H.-W. and Rau, G. 1997: A compact robot for image guided orthopedic surgery. Proceedings of Computer Vision, Virtual Reality and Robotics in Medicine and Medical Robotics and Computer Assisted Surgery, 767-776.
3.
Charles, S., Das, H., Ohm, T., Boswell, C., Rodriguez, G., Steele, R. and Istrate, D. 1997: Dexterity-enhanced telerobotic micro-surgery. Proceedings of the 8th International Conference on Advanced Robotics (ICAR ’97).
4.
Finlay, P. A. 1995: ORTHOSISTAÔ: an active surgical localiser for assisting orthopaedic fracture fixation. Proceedings 2nd International Symposium on Medical Robotics and Computer Assisted Surgery (MRCAS), in Image Guided Surgery (MRCAS).
5.
Glauser, D., Fankhauser, H., Epitaux, M., Hefti, J.-L. and Jaccottet, A.1995: Neuro-surgical robot Minerva first results and current developments. Journal of Image Guided Surgery1, 266-272.
6.
Grace, K. W., Colgate, J. E., Glucksberg, M. R. and Chun, J. H.1993: A six degree of freedom micromanipulator for ophthalmic surgery. IEEE International Conference on Robotics and Automation1, 630-635.
7.
Harris, S. J., Lin, W. J., Fan, K. L., Hibberd, R. D., Cobb, J., Middleton, R. and Davies, B. L. 1997: Experiences with robotic systems for knee surgery. Proceedings of Computer Vision, Virtual Reality and Robotics in Medicine and Medical Robotics and Computer Assisted Surgery, 757-766.
8.
MAQUET1998: Computer integrated surgery by MAQUET, http://www.ortomaquet.de
9.
Mitsuishi, M., Watanabe, H., Nakanishi, H., Kubota, H. and Iizuka, Y. 1997: Dexterity enhancement for a tele-micro-surgery system with multiple macro-micro co-located operation point manipulators and understanding of the operator’s intention. Proceedings of Computer Vision, Virtual Reality and Robotics in Medicine and Medical Robotics and Computer Assisted Surgery, 821-830.
10.
Physik Instrumente. 1996: Waldbronn, Germany.
11.
Taylor, R. H., Funda, J., Eldridge, B., Gomory, S. and Gruben, K.1995: A telerobotic assistant for laparoscopic surgery. IEEE Engineering in Medicine and Biology14, 279-288.
12.
Urban, V., Wapler, M., Neugebauer, J., Hiller, A., Stallkamp, J. and Weisener, T.1998: Robot-assisted surgery system with kinesthetic feedback. Computer Aided Surgery3, 205-209.
