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A hands-on-robot for accurate placement of pedicle screws | IEEE Conference Publication | IEEE Xplore

A hands-on-robot for accurate placement of pedicle screws


Abstract:

This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (<10 kg), kinematically redundant, and fully torque...Show More

Abstract:

This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (<10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose of the robot tool-center point is tracked by an optical navigation system, serving as an external reference source. Therefore, it is possible to measure and to compensate deviations between the intraoperative and the preoperatively planned pose. The robotic arm itself is impedance controlled. This allows for a new intuitive man-machine-interface as the joint units are equipped with torque sensors: the robot can be moved just by pulling/pushing its structure. The surgeon has full control of the robot at every step of the intervention. The hand-eye-coordination problems known from manual pedicle screw placement can be omitted
Date of Conference: 15-19 May 2006
Date Added to IEEE Xplore: 26 June 2006
Print ISBN:0-7803-9505-0
Print ISSN: 1050-4729
Conference Location: Orlando, FL, USA

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