Miniature parallel robot with submillimeter positioning accuracy for minimally invasive laser osteotomy

Author:

Eugster ManuelaORCID,Merlet Jean-Pierre,Gerig NicolasORCID,Cattin Philippe C.,Rauter Georg

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.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference80 articles.

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