Miniaturized, Autoclavable Surgical Robot (Miniaturisierter, autoklavierbarer Roboter für die Chirurgie)

摘要

Abstract In this paper a design for a miniaturized, autoclavable robot for medicine is presented. The design is motivated by problems like size, visibility of the situs and the sterility of the operating field of known surgical robotics systems. The authors present a simple yet effective approach for closed loop control and a kinematics that addresses and solves these problems. Experiments show that properties like positioning precision and mechanical resistance during autoclaving are sufficient for certain clinical applications.