Abstract
This paper presents the architecture and the implementation of a robot controller for a Delta-3 manipulator used for the implantation of bone fixtures for Anaplastology. The main feature of this robotics system for maxillofacial surgery is its interactive tool handling in conjunction with an image based control. The controller allows the use of the system as an intelligent tool which carries the drilling machine, allows the handling of the drilling machine as usual during the whole intervention, and extents the potential position and orientation accuracy of the surgeon. A control algorithm is described which allows a stable guidance of the manipulator in contact and non-contact situations. This algorithm works without the use of two force/torque sensors for distinguishing contact and guiding forces. Currently, the system undergoes a technical approval and first clinical experiments with cadavers.
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References
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© 2000 Springer-Verlag London Limited
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Hein, A., Lueth, T.C. (2000). Robot control in maxillofacial surgery. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119396
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DOI: https://doi.org/10.1007/BFb0119396
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