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On-line motion planning for medical applications
Ch. Burghart , Dominik Henrich , J. Raczkowsky , U. Rembold , Heinz Wörn , Christian Wurll

Abstract (english)
Enhancing the quality of surgical interventions is one of the main goals of surgical robotics. Thus we have devised a surgical robotic system for maxillofacial surgery which can be used as an intelligent intraoperative surgical tool. Up to now a surgeon preoperatively plans an intervention by studying twodimensional X-rays, thus neglecting the third dimension. In course of the special research programme "Computer and Sensor Aided Surgery" a planning system has been developed at our institute, which allows the surgeon to plan an operation on a threedimensional computer model of the patient . Transposing the preoperatively planned bone cuts, bore holes, cavities, and milled surfaces during surgery still proves to be a problem, as no adequate means are at hand: the actual performance of the surgical intervention and the surgical outcome solely depend on the experience and the skill of the operating surgeon. In this paper we present our approach of a surgical robotic system to be used in maxillofacial surgery. Special stress is being laid upon the modelling of the environment in the operating theatre and the motion planning of our surgical robot.

Publication data

Year: 1998
Publication date: 31. August 1998
Source: The 24th Annual Conference of the IEEE Industrial Electronics Society (IECON'98), Aachen, Germany, August 31 - September 4, 1998
Project: SKALP , PARO


  TITLE             = "On-line motion planning for medical applications",
  AUTHOR            = "Burghart, Ch. and Henrich, Dominik and Raczkowsky, J. and Rembold, U. and Wörn, Heinz and Wurll, Christian",
  YEAR              = "1998",
  JOURNAL           = "The 24th Annual Conference of the IEEE Industrial Electronics Society (IECON'98), Aachen, Germany, August 31 - September 4, 1998",
  HOWPUBLISHED      = "\url{}",


Filename   Size   Language   Format
burghart1998a.Online.motion.planning.for.medical.applications.djvu   275.7K   english   DJVU   download preprint
burghart1998a.Online.motion.planning.for.medical.applications.pdf   254.5K   english   PDF   download preprint

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