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Title:
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A HAND GUIDED ROBOTIC PLANNING SYSTEM FOR LASER OSTEOTOMY IN SURGERY |
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Author(s):
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Holger Mönnich , Daniel Stein , Jörg Raczkowsky , Heinz Wörn |
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ISBN:
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978-972-8924-81-2 |
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Editors:
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Mário Macedo |
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Year:
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2009 |
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Edition:
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Single |
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Keywords:
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Surgical robotics, surgical planning, force feedback, laser osteotomy |
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Type:
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Short Paper |
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First Page:
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190 |
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Last Page:
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194 |
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Language:
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English |
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Cover:
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Full Contents:
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click to dowload 
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Paper Abstract:
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In this paper a way to use a KUKA lightweight robot (LWR) for an intuitive planning of surgical interventions is
presented. It is possible to guide the robot by hand and this is used for the planning of the trajectory for bone cutting on
the skull. The robot allows hand guided movements that can be used to record the coordinates of the trajectory. The
planning system is constructed for a laser osteotomy system including a pilot laser. While the pilot laser shows the
position of the point on the real skull, the same position is shown on the model inside the visualization program. Thus the
vertices points for the trajectories are selected and the computed trajectory is shown on the model. |
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