Gesellschaft fr Informatik e.V.

Lecture Notes in Informatics


INFORMATIK 2009 - Im Focus das Leben P-154, 1010-1017 (2008).

Gesellschaft für Informatik, Bonn
2008


Editors

Stefan Fischer, Erik Maehle, Rüdiger Reischuk (eds.)


Copyright © Gesellschaft für Informatik, Bonn

Contents

Control and safety architecture for a modular medical robot

Alexander Korff , Martin Niggemeyer , Matías De La Fuente and Klaus Radermacher

Abstract


In this paper a new approach for a control and safety architecture for a modular task adaptable medical robot is described. The concept has been evaluated with the MINARO robot, which was developed in the OrthoMIT framework for revision total hip replacement (RTHR), being one of several possible applications. By modularizing the system we tried to combine the advantages of medical robots (e.g. higher accuracy, lesser invasiveness) with the advantages of modularisation (increased flexibility, lower costs). Based on the mechanical building blocks and under consideration of the high safety demands in robotic surgery a modular control and safety architecture was developed. Solutions for the automatic identification of the modules and supervision of the system were integrated. Prototypal systems have been used to verify the feasibility of the concept.


Full Text: PDF

Gesellschaft für Informatik, Bonn
ISBN 978-3-88579-241-3


Last changed 24.01.2012 22:07:31