MINARO HD: control and evaluation of a handheld, highly dynamic surgical robot.

Journal: International journal of computer assisted radiology and surgery
Published Date: Jan 23, 2021

Abstract

PURPOSE: Current surgical robotic systems are either large serial arms, resulting in higher risks due to their high inertia and no inherent limitations of the working space, or they are bone-mounted, adding substantial additional task steps to the surgical workflow. The robot presented in this paper has a handy and lightweight design and can be easily held by the surgeon. No rigid fixation to the bone or a cart is necessary. A high-speed tracking camera together with a fast control system ensures the accurate positioning of a burring tool.

Authors

  • Manuel Vossel
    Chair of Medical Engineering, RWTH Aachen.
  • Meiko Müller
    Chair of Medical Engineering, Helmholtz Institute for Biomedical Engineering, RWTH Aachen University, Pauwelsstraße 20, 52074, Aachen, Germany.
  • Annegret Niesche
    Chair of Medical Engineering, Helmholtz Institute for Biomedical Engineering, RWTH Aachen University, Pauwelsstraße 20, 52074, Aachen, Germany.
  • Lukas Theisgen
    Chair of Medical Engineering, Helmholtz Institute for Biomedical Engineering, RWTH Aachen University, Pauwelsstraße 20, 52074, Aachen, Germany.
  • Klaus Radermacher
    Chair of Medical Engineering, RWTH Aachen.
  • Matias de la Fuente
    Helmholtz Institute for Biomedical Engineering, Pauwelsstraße 20, 52074, Aachen, Germany.

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