Control Algorithms for Interactive Shaping

Abstract

this puper a robotic system for the application in head arid spincil surgery is described. The system, developed at the Surgical Robotics Lab (SRL), is distinguished from other systems by the complete interactive control by the surgeon. From the viewpoint of telemanipulation it can De interpreted as a cotnbined masterLdave manipulator. This system has already been applied clinically in maxil- lofiicial surgery for the exact placement of implants. In this puper extensions ure described for the use in spinal surgery. The advantages and arising problems are des- cribed, especially for shaping at vertebrae for the decom- pression oj'the nerve channel.