An Experimental Setup Ror Investigating Sensor-based Teleoperated Surgery Procedures

摘要

This paper outlines some concepts on the design philosophy of a robot workstation for computerassisted surgery. The workstation, intended primarily, although n ot exclusively, for investigating orthopaedic surgery procedures, includes a laser range vision system, and two industrial robot manipulators equipped with prosthetic grippers and proximity, force and tactile sensors. The planning, simulation and execution phases of the surgical operations are performed by means of a multiprocessor architecture, whereas parts of the intervention are teleoperated by the surgeon through an instrumented glove-like interface.