Modular design of versatile surgical mini-robots
Surgical robots have been introduced in the field of Computer Assisted Surgery (CAS) to assist the surgeon by providing an accurate link between the computer-based plan and the exact (a) positioning or (b) dynamic path control of an instrument on the operating site respectively. Whereas initial syst...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2018-09-01
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| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cdbme-2018-0098 |
| _version_ | 1811246915507978240 |
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| author | Theisgen Lukas de la Fuente Matías Radermacher Klaus |
| author_facet | Theisgen Lukas de la Fuente Matías Radermacher Klaus |
| author_sort | Theisgen Lukas |
| collection | DOAJ |
| description | Surgical robots have been introduced in the field of Computer Assisted Surgery (CAS) to assist the surgeon by providing an accurate link between the computer-based plan and the exact (a) positioning or (b) dynamic path control of an instrument on the operating site respectively. Whereas initial systems mostly have been based on an active supervisory control scheme of industrial robots with large universal workspaces, later on specialized miniaturized kinematics have been proposed, with restricted workspaces adapted to specific applications in order to ease handling and provide inherent safety properties. However, this specialization resulted in even narrower fields of application, low quantities and higher costs. Modularization seems to be a key factor to combine the benefits of both approaches. In this paper two modular robotic solutions, validated in the context of their purpose, are analysed regarding their modular design. Based on this, the potential of modularity for instrument guiding tasks in surgery is discussed. |
| first_indexed | 2024-04-12T15:00:27Z |
| format | Article |
| id | doaj.art-da728a5972044efda48051c481ffc3da |
| institution | Directory Open Access Journal |
| issn | 2364-5504 |
| language | English |
| last_indexed | 2024-04-12T15:00:27Z |
| publishDate | 2018-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj.art-da728a5972044efda48051c481ffc3da2022-12-22T03:28:05ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042018-09-014141141410.1515/cdbme-2018-0098cdbme-2018-0098Modular design of versatile surgical mini-robotsTheisgen Lukas0de la Fuente Matías1Radermacher Klaus2Chair of Medical Engineering at Helmholtz-Institute for Biomedical Engineering of RWTH Aachen University,Aachen, GermanyChair of Medical Engineering at Helmholtz-Institute for Biomedical Engineering of RWTH Aachen University,Aachen, GermanyChair of Medical Engineering at Helmholtz-Institute for Biomedical Engineering of RWTH Aachen University,Aachen, GermanySurgical robots have been introduced in the field of Computer Assisted Surgery (CAS) to assist the surgeon by providing an accurate link between the computer-based plan and the exact (a) positioning or (b) dynamic path control of an instrument on the operating site respectively. Whereas initial systems mostly have been based on an active supervisory control scheme of industrial robots with large universal workspaces, later on specialized miniaturized kinematics have been proposed, with restricted workspaces adapted to specific applications in order to ease handling and provide inherent safety properties. However, this specialization resulted in even narrower fields of application, low quantities and higher costs. Modularization seems to be a key factor to combine the benefits of both approaches. In this paper two modular robotic solutions, validated in the context of their purpose, are analysed regarding their modular design. Based on this, the potential of modularity for instrument guiding tasks in surgery is discussed.https://doi.org/10.1515/cdbme-2018-0098roboticsmini-robotsinstrument guidecomputer assisted surgery |
| spellingShingle | Theisgen Lukas de la Fuente Matías Radermacher Klaus Modular design of versatile surgical mini-robots Current Directions in Biomedical Engineering robotics mini-robots instrument guide computer assisted surgery |
| title | Modular design of versatile surgical mini-robots |
| title_full | Modular design of versatile surgical mini-robots |
| title_fullStr | Modular design of versatile surgical mini-robots |
| title_full_unstemmed | Modular design of versatile surgical mini-robots |
| title_short | Modular design of versatile surgical mini-robots |
| title_sort | modular design of versatile surgical mini robots |
| topic | robotics mini-robots instrument guide computer assisted surgery |
| url | https://doi.org/10.1515/cdbme-2018-0098 |
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