A NAVIGATED MECHATRONIC SYSTEM WITH HAPTIC FEATURES TO ASSIST IN SURGICAL INTERVENTIONS

Abstract

This paper illustrates the concept of a versatile surgical assistance system which combines an optical navigation system and a robotic arm. The integrated system offers precise positioning and guiding of surgical instruments according to pre-operative planning. A unique feature results from its capability to track small motions of the patient in real time, eliminating the need to rigidly fix the anatomical structure to be operated. The modular system architecture facilitates the adaptation of a common basic hardware platform to various surgical applications by adding associated software modules as well as appropriate surgical tools mounted to the robotic arm. The arm can be regarded as a controlled machine actuator of a navigation system. Its operation is mainly controlled by interactive operating modes which are based on a versatile haptic interface. The system supports the surgeon in those parts of a procedure where human skills are limited, but always lets him take full control, for example by directly grasping and moving the arm at its wrist if he wants to push the arm aside.