Details
| Translated title of the contribution | A new robot for accurate placement of pedicle screws |
|---|---|
| Original language | German |
| Pages (from-to) | 661-686 |
| Number of pages | 26 |
| Journal | VDI Berichte |
| Issue number | 1892 PART 2 |
| Publication status | Published - 2005 |
| Externally published | Yes |
Abstract
This paper presents a novel system for accurate placement of pedicle screws, jointly developed by the German Aerospace Center and BrainLAB. The system consists of a 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 (i.e. haptic interaction). 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.
ASJC Scopus subject areas
- Engineering(all)
- General Engineering
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In: VDI Berichte, No. 1892 PART 2, 2005, p. 661-686.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben
AU - Ortmaier, T.
AU - Hagn, U.
AU - Grebenstein, M.
AU - Nickl, M.
AU - Albu-Schäffer, A.
AU - Ott, C.
AU - Jörg, S.
AU - Konietschke, R.
AU - Hirzinger, G.
AU - Essenreiter, R.
AU - Bertram, M.
AU - Weiss, Heike
PY - 2005
Y1 - 2005
N2 - This paper presents a novel system for accurate placement of pedicle screws, jointly developed by the German Aerospace Center and BrainLAB. The system consists of a 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 (i.e. haptic interaction). 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.
AB - This paper presents a novel system for accurate placement of pedicle screws, jointly developed by the German Aerospace Center and BrainLAB. The system consists of a 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 (i.e. haptic interaction). 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.
UR - http://www.scopus.com/inward/record.url?scp=22744439123&partnerID=8YFLogxK
M3 - Artikel
AN - SCOPUS:22744439123
SP - 661
EP - 686
JO - VDI Berichte
JF - VDI Berichte
SN - 0083-5560
IS - 1892 PART 2
ER -