Robot-Assisted Surgery

Fig. 11: Robot milling system
Fig. 11: Robot milling system
Fig. 12: A volume milled into a human skull with the implant inserted
Fig. 12: A volume milled into a human skull with the implant inserted

Project definition

Only a select few sensor types are currently utilised for robot-assisted surgery. However, the use of additional types of sensors increases the accuracy and safety of surgical procedures and additionally allows for flexibility and improved control during surgery, as the data collected can be used during the procedure and not just for pre-operative planning. Both local sensor information (collected directly at the tool's current position) and local navigation (navigation along environmental maps produced using measurements by local sensors) can be used.

Areas of expertise

  • Interactive, semiautomatic determination of the optimal position for milling volumes needed for boneaffixed implants
  • Automatic calculation of volume-covering tool paths in 5 degrees-of-freedom (DOF)
  • Online assessment of local force and audio data to determine contact states during milling
  • Real-time creation of environmental maps based on local sensor information
  • On-the-fly planning of tool paths by means of local environmental maps
  • Coordinate calibration of sensors and robots with force-based guidance and optical navigation systems
  • Increased precision through determination and correction of tool deformation

Applications

  • Robot-assisted milling of volumes on the lateral base of the skull for hearing aids
  • Endoscopic examination and cartography of openings and cavities
  • Precision milling tasks for the creation of casts and prototypes

Projects

Wanted

Student Jobs / Open Positions