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

Author

Brandt, G. ; Rau, G. ; Radermacher, K. ; Lavallee, St ; Erbse, St ; Staudte, H.-W.

Author_Institution

Helmholtz-Inst. for Biomed. Eng., Aachen, Germany

Volume

1

fYear

1996

fDate

31 Oct-3 Nov 1996

Firstpage

236

Abstract

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

Keywords

biocontrol; biomedical equipment; bone; manipulator kinematics; medical computing; surgery; telerobotics; CAD-based simulation; Stewart platform; bone structures treatment; computer assisted surgery; ergonomic analysis; labtype model; optimization; orthopedic interventions; orthopedic surgery; parallel structure; robot with optimized kinematics; special purpose manipulator; surgical robots; Biomedical imaging; Bones; Humans; Kinematics; Medical diagnostic imaging; Medical robotics; Orthopedic surgery; Parallel robots; Payloads; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 1996. Bridging Disciplines for Biomedicine. Proceedings of the 18th Annual International Conference of the IEEE

Conference_Location

Amsterdam

Print_ISBN

0-7803-3811-1

Type

conf

DOI

10.1109/IEMBS.1996.656932

Filename

656932