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BOrEScOPE – Exoskeleton for Active Surgeon Support during Orthopedic Surgery

Pott, Peter P. and Hessinger, Markus and Werthschützky, Roland and Schlaak, Helmut F. and Nordheimer, Eugen and Badreddin, Essameddin and Wagner, Achim (2014):
BOrEScOPE – Exoskeleton for Active Surgeon Support during Orthopedic Surgery.
Barcelona, In: 7. International Conference on Advances in Computer-Human Interactions (ACHI 2014), Barcelona, 23.-27.03.2014, [Conference or Workshop Item]

Abstract

The use of robots in a medical environment is a challenging task not only for system development but also for the actual application in this demanding environment. Robots are used to enhance surgery quality in terms of precision, application of new therapies, or to improve ergonomics - only to name a few reasons. The approach described in this paper is to provide an exoskeleton worn by the orthopedic surgeon. It is intended to be used during drilling tasks at the spine and to enhance precision as the surgeon is led by optic, acoustic, and haptic perception. The parallel flux of forces and the inherently mobile robot base allow the surgeon to directly maintain responsibility for surgery. Not only the mechanical design of the system but also the control is decomposed into several levels. To do so, a behavior-based approach is used. The system’s design criteria are briefly described and first results are presented. The exoskeleton is composed of an anthropomorphic arm actuated by twisted-string actuators. This leads to a lightweight construction. To provide sufficiently fast and precise information about the spatial position and its time derivations, optical and inertial tracking is used. A six DOF User Guidance Opto-Acoustic Display is utilized to provide the surgeon with information on position and orientation of the tool with respect to the desired trajectory. First experimental results derived that the intended workspace meets the surgical requirements and the user guidance system enables the surgeon to follow the desired trajectory by intuitive user guidance.

Item Type: Conference or Workshop Item
Erschienen: 2014
Creators: Pott, Peter P. and Hessinger, Markus and Werthschützky, Roland and Schlaak, Helmut F. and Nordheimer, Eugen and Badreddin, Essameddin and Wagner, Achim
Title: BOrEScOPE – Exoskeleton for Active Surgeon Support during Orthopedic Surgery
Language: English
Abstract:

The use of robots in a medical environment is a challenging task not only for system development but also for the actual application in this demanding environment. Robots are used to enhance surgery quality in terms of precision, application of new therapies, or to improve ergonomics - only to name a few reasons. The approach described in this paper is to provide an exoskeleton worn by the orthopedic surgeon. It is intended to be used during drilling tasks at the spine and to enhance precision as the surgeon is led by optic, acoustic, and haptic perception. The parallel flux of forces and the inherently mobile robot base allow the surgeon to directly maintain responsibility for surgery. Not only the mechanical design of the system but also the control is decomposed into several levels. To do so, a behavior-based approach is used. The system’s design criteria are briefly described and first results are presented. The exoskeleton is composed of an anthropomorphic arm actuated by twisted-string actuators. This leads to a lightweight construction. To provide sufficiently fast and precise information about the spatial position and its time derivations, optical and inertial tracking is used. A six DOF User Guidance Opto-Acoustic Display is utilized to provide the surgeon with information on position and orientation of the tool with respect to the desired trajectory. First experimental results derived that the intended workspace meets the surgical requirements and the user guidance system enables the surgeon to follow the desired trajectory by intuitive user guidance.

Place of Publication: Barcelona
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Microtechnology and Electromechanical Systems
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Measurement and Sensor Technology
Event Title: 7. International Conference on Advances in Computer-Human Interactions (ACHI 2014)
Event Location: Barcelona
Event Dates: 23.-27.03.2014
Date Deposited: 18 Mar 2014 15:08
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