Improving Navigation Precision of Milling Operations in Surgical Robotics

Abstract

Current approaches to establish or improve precision of registration and execution in (surgical) robotics, especially milling applications, mostly aim at determining an exact relationship between intervention area and the robot. However, this is subject to quality deterioration due to positional shifts and deformations under load. Therefore, in this work we describe two approaches to define and measure the actual tool position more accurately - by optical and force measurements - to both ease static and dynamic registration and estimate tool and other deformations