Active End Effector For Surgical Robot

摘要

Within the scope of the collaborative research center 414 "Computer and Sensor Based Surgery, the surgical robot system RobaCKa for craniofacial surgery was developed. In 2003 we started with the treatment of our first patient at the medical center of the University of Heidelber - after numerous tests with plastic skull models and experimental pigs. First results showed the necessity to enhance the current system by adding additional axes. Our first approach was the development of a linear active axes system containing a local control system and various sensors. This paper shows the advantage in terms of reachability of complex trajectory geometry. Additionally, the real time behaviour of the end effector could be improved. The project is funded by the "Alfried Krupp von Bohlen und Halbach-Stiftung" in the special program "Neue Ingenieur-Teams".