title: A technical challenge for robot-assisted minimally invasive surgery: precision surgery on soft tissue.
abstract: In minimally invasive surgery, a higher degree of accuracy is required by surgeons both for current and for future applications. This could be achieved using either a manipulator or a robot which would undertake selected tasks during surgery. However, a manually-controlled manipulator cannot fully exploit the maximum accuracy and feasibility of three-dimensional motion sequences. Therefore, apart from being used to perform simple positioning tasks, manipulators will probably be replaced by robot systems more and more in the future. However, in order to use a robot, accurate, up-to-date and extensive data is required which cannot yet be acquired by typical sensors such as CT, MRI, US or common x-ray machines. This paper deals with a new sensor and a concept for its application in robot-assisted minimally invasive surgery on soft tissue which could be a solution for data acquisition in future.
authors.affiliation: Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Nobelstrasse 12, D-70569, Stuttgart, Germany. stallkamp@ipa.fraunhofer.de
authors.forename: J
authors.initials: J
authors.lastname: Stallkamp
authors.forename: R D
authors.initials: RD
authors.lastname: Schraft
mesh_terms: D003952:Diagnostic Imaging; D004867:Equipment Design; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000379:methods* / Q000639:trends; D012371:Robotics / Q000295:instrumentation* / Q000639:trends; D025321:Surgery, Computer-Assisted