Abstract
The introduction of robot assistance into the surgical process yields beside all desired advantages also additional sources of potential risks. This is especially due to the fact that the working space of the robot system is overlapping with the patient and the surgical personnel in a narrow environment around the situs. To enable the usage of partially autonomous robotic system in this field, we propose a novel approach which combines an algorithm for guaranteed collision-free path-planning with a real-time monitoring system of the workspace. This paper details the concept as well as the integration plan, showing first results for both components.
This research work is partially funded by the European Commission within the FP7 project SAFROS under the contract number 248960. The residual equipment was funded within the large equipment program of the German Science Foundation (DFG).
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Raczkowsky, J., Nicolai, P., Hein, B., Wörn, H. (2013). System Concept for Collision-Free Robot Assisted Surgery Using Real-Time Sensing. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_16
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DOI: https://doi.org/10.1007/978-3-642-33932-5_16
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