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Fakultät für Mathematik, Physik und Informatik

Angewandte Informatik III - Robotik und eingebettete Systeme - Prof. Dr. Dominik HENRICH

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Development of the First Force-Controlled Robot for Otoneurosurgery
Philipp A. Federspil , Urban W. Geisthoff , Dominik Henrich , Peter K. Plinkert

Abstract (english)
Objective: In some surgical specialties, e.g. orthopedics, robots are already used in the operating room for bony milling work. Oto- and otoneurosurgery may also greatly benefit by robotic enhanced precision.
Study Design: Experimental study on robotic milling on oak wood and human temporal bone specimen.
Methods: A standard industrial robot with a 6 degrees-of-freedom serial kinematics was used with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on CAD geometry data of a cochlear implant and an implantable hearing system.
Results: The best suited strategy proofed to be the spiral horizontal milling mode with the burr held perpendicularly to the temporal bone surface. In order to avoid high grooves, the distance in between paths should equal half the radius of the cutting burr head. Due to the vibration of the robot

Publication data

Year: 2003
Publication date: 07. April 2003
Source: Laryngoscope 113: March 2003
Project: RONAF
Keywords (deutsch): Mastoid , Mastoidektomie
Keywords (english): mastoid , mastoidectomy , otorhinolaryngological surgery
Referrer: https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=federspil2003a


  TITLE             = "Development of the First Force-Controlled Robot for Otoneurosurgery",
  AUTHOR            = "Federspil, Philipp A. and Geisthoff, Urban W. and Henrich, Dominik and Plinkert, Peter K.",
  YEAR              = "2003",
  JOURNAL           = "Laryngoscope 113: March 2003",
  HOWPUBLISHED      = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=federspil2003a}",


Filename   Size   Language   Format
  263.2K   english   DJVU download preprint
  2M   english   PDF download preprint

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