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Intelligent Autonomous Systems 12 pp 165–173Cite as

System Concept for Collision-Free Robot Assisted Surgery Using Real-Time Sensing

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 194))

Abstract

The introduction of robot assistance into the surgical process yields beside all desired advantages also additional sources of potential risks. This is especially due to the fact that the working space of the robot system is overlapping with the patient and the surgical personnel in a narrow environment around the situs. To enable the usage of partially autonomous robotic system in this field, we propose a novel approach which combines an algorithm for guaranteed collision-free path-planning with a real-time monitoring system of the workspace. This paper details the concept as well as the integration plan, showing first results for both components.

This research work is partially funded by the European Commission within the FP7 project SAFROS under the contract number 248960. The residual equipment was funded within the large equipment program of the German Science Foundation (DFG).

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References

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Author information

Authors and Affiliations

  1. Institute for Process Control and Robotics, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

    Jörg Raczkowsky, Philip Nicolai, Björn Hein & Heinz Wörn

Authors
  1. Jörg Raczkowsky
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  2. Philip Nicolai
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  3. Björn Hein
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  4. Heinz Wörn
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Corresponding author

Correspondence to Jörg Raczkowsky .

Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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Raczkowsky, J., Nicolai, P., Hein, B., Wörn, H. (2013). System Concept for Collision-Free Robot Assisted Surgery Using Real-Time Sensing. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_16

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  • DOI: https://doi.org/10.1007/978-3-642-33932-5_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33931-8

  • Online ISBN: 978-3-642-33932-5

  • eBook Packages: EngineeringEngineering (R0)

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