Robot control in maxillofacial surgery

Advances in Robot-Assisted Surgery for Facial Bone Contouring Surgery

“…Later, Andreas Hein and Tim C. Lueth reported the OTTO robot in 1998, which consisted of AMIRA-ANAPLASTY software, a touch interactive screen, optical navigation system, PUMA500 industrial robot, and MSS surgical robot. In clinical trials of the surgical robot, the team performed prosthetic implants in 13 patients 19–24. In addition, Raczkowsky and Wörn and colleagues reported in 2001 the development of a robotic control system, an optical navigation system, and a mechanical feedback system for the RobaCKa robot was developed in 2001.…”

“…In clinical trials of the surgical robot, the team performed prosthetic implants in 13 patients. [19][20][21][22][23][24] In addition, Raczkowsky and Wörn and colleagues reported in 2001 the development of a robotic control system, an optical navigation system, and a mechanical feedback system for the RobaCKa robot was developed in 2001. The system is mainly used for craniotomy, and for safety reasons, the robot performs only half the thickness of the skull osteotomy depth, while the rest is still done by the surgeon.…”

Image-Based Control of Interactive Robotics Systems

“…3: Architecture of the interactive robot controller [13] The hand piece of the drilling machine is an unmodified standard surgical hand piece that is mounted to the manipulator by a special construction. Its motor is connected to a station that controls the speed and the force of the drilling machine.…”

“…This force control scheme has been described in [13]. A main influence on the successful application of the image-based control of a robotics system is the accuracy of the spatial mapping of the real patient to the coordinate system of the robot.…”