System for Laser Osteotomy in Surgery with the Kuka Lightweight Robot - First Experimental Results

摘要

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.