OP sense — A robotic research platform for telemanipulated and automatic computer assisted surgery

摘要

OP:Sense is a research platform developed for applications in roboter assisted surgery. The system can be used for automatic positioning tasks, like CO <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> laser cutting or conventional bone cutting techniques or highly accurate positioning, like needle placement in biopsie. Due to the flexibility of the used lightweight robots the system can also be used for minimal invasive surgery. Also new combinations of MIRS techniques and automatic positioning becomes possible, a semi-autonomous usage of the surgical robotic system. In this paper the focus is to describe the control system developed for OP:sense that enables to use the system in a wide area of surgical applications.