Development of a robot with optimized kinematics for the treatment of bone structures

摘要

This paper describes a new approach towards computer assisted surgery by means of a special purpose manipulator with a new kinematic structure optimized for orthopedic interventions. A labtype model has been built up as a first result of a CAD-based simulation and optimization procedure. Starting with listed specifications based on initial medical, technical and ergonomic analysis, results of our investigation concerning an adequate kinematic architecture for Computer Assisted Orthopedic Surgery are presented.