System for Laser Osteotomy in Surgery with the Kuka Lightweight Robot – First Experimental Results
In this paper a system for laser osteotomy on the human skull is described. The system consists of a KUKA lightweight robot, a scanhead, a laser distance sensor, and a multi camera tracking system. To measure the accuracy of the robot a FARO measurement arm is used. The result of the measurement is a great repeatability of the KUKA robot although a total accuracy that is not as good. To overcome this problem the multi camera system is used to control the position of the robot. A CT scan is taken from the skull, segmented and used to calculate the position for the robot. The cutting is performed with a CO2 laser that is delivered through an articulated mirror arm and controlled by the scanhead attached to the robot.
KeywordsLaser Cutting Optical Tracking System Titanium Screw Computer Assistant Surgery Multi Camera System
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