title: A navigated mechatronic system with haptic features to assist in surgical interventions.
abstract: OBJECTIVE
  In orthopaedic surgery, the development of new computer-based technologies such as navigation systems and robotics will facilitate more precise, reproducible results in surgical interventions. There are already commercial systems available for clinical use, though these still have some limitations and drawbacks. This paper presents an alternative approach to a universal modular surgical assistant system for supporting less or minimally invasive surgery.
  
  
  METHODS
  The position of a mechatronic arm, which is part of the system, is controlled by a navigation system so that small patient movements are automatically detected and compensated for in real time. Thus, the optimal tool position can be constantly maintained without the need for rigid bone or patient fixation. Furthermore, a force control mode of the mechatronic assistant system, based on a force-torque sensor, not only increases safety during surgical interventions but also facilitates hand-driven direct positioning of the arm.
  
  
  RESULTS
  A prototype has been successfully tested in clinical applications at the Orthopadische Universitätsklinik Frankfurt. For the first time worldwide, implantation of the cup prosthesis in total hip replacement surgery has been carried out with the assistance of a mechatronic arm. According to measurements by the digitizing system, operating tool angle deviation remained below 0.5 degrees, relative to the preoperative planning.
  
  
  CONCLUSIONS
  The presented approach to a new kind of surgical mechatronic assistance system supports the surgeon as needed by optimal positioning of the surgical instruments. Due to its modular design, it is applicable to a wide range of tasks in surgical interventions, e.g., endoscope guidance, bone preparation, etc.
authors.affiliation: Center for Sensor Systems, University of Siegen, Siegen, Germany. pieck@zess.uni-siegen.de
authors.forename: S
authors.initials: S
authors.lastname: Pieck
authors.forename: I
authors.initials: I
authors.lastname: Gross
authors.forename: P
authors.initials: P
authors.lastname: Knappe
authors.forename: S
authors.initials: S
authors.lastname: Kuenzler
authors.forename: F
authors.initials: F
authors.lastname: Kerschbaumer
authors.forename: J
authors.initials: J
authors.lastname: Wahrburg
mesh_terms: D019644:Arthroplasty, Replacement, Hip / Q000295:instrumentation / Q000379:methods; D006801:Humans; D007091:Image Processing, Computer-Assisted; D019060:Minimally Invasive Surgical Procedures; D012371:Robotics