Miniature parallel robot with submillimeter positioning accuracy for minimally invasive laser osteotomy. Issue 4 (6th April 2022)

• Record Type: Journal Article
• Authors: Eugster, Manuela; Merlet, Jean-Pierre; Gerig, Nicolas; Cattin, Philippe C.; Rauter, Georg
• Is Part Of: Robotica. Volume 40:Issue 4(2022)
• Page Start: 1070
• Page End: 1097
• Publication Date: 2022-04-06
• Subjects: parallel manipulators -- surgical robots -- mechatronic systems -- mechanism design -- robot-assisted minimally invasive surgery; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574721000990
• Languages: English
• ISSNs: 0263-5747

Abstract

Abstract: To overcome the physical limitations of mechanical bone cutting in minimally invasive surgery, we are developing a miniature parallel robot that enables positioning of a pulsed laser with an accuracy below 0.25 mm and minimizes the required manipulation space above the target tissue. This paper presents the design, control, device characteristics, functional testing, and performance evaluation of the robot. The performance of the robot was evaluated within the scope of a path-following experiment. The required accuracy for continuous cuts was achieved and reached 0.176 mm on the test bench.