Publikationsdatenbank
Publication
Development of the First Force-Controlled Robot for OtoneurosurgeryPhilipp 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 |
BibTeX
@MISC{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}",
}
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| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| federspil2003a.Development.of.the.First.ForceControlled.Robo t.for.Otoneurosurgery.djvu |
263.2K | english | DJVU | download preprint | |||
| federspil2003a.Development.of.the.First.ForceControlled.Robo t.for.Otoneurosurgery.pdf |
2M | english | download preprint |