title: Motorization of a surgical microscope for intra-operative navigation and intuitive control.
abstract: BACKGROUND
  During surgical procedures, various medical systems, e.g. microscope or C-arm, are used. Their precise and repeatable manual positioning can be very cumbersome and interrupts the surgeon's work flow. Robotized systems can assist the surgeon but they require suitable kinematics and control. However, positioning must be fast, flexible and intuitive.
  
  
  METHODS
  We describe a fully motorized surgical microscope. Hardware components as well as implemented applications are specified. The kinematic equations are described and a novel control concept is proposed.
  
  
  RESULTS
  Our microscope combines fast manual handling with accurate, automatic positioning. Intuitive control is provided by a small remote control mounted to one of the surgical instruments. Positioning accuracy and repeatability are < 1 mm and vibrations caused by automatic movements fade away in about 1 s.
  
  
  CONCLUSIONS
  The robotic system assists the surgeon, so that he can position the microscope precisely and repeatedly without interrupting the clinical workflow. The combination of manual und automatic control guarantees fast and flexible positioning during surgical procedures.
authors.affiliation: Institute for Robotics and Cognitive Systems, University of Lübeck, Germany. Finke@rob.uni-luebeck.de
authors.forename: M
authors.initials: M
authors.lastname: Finke
authors.forename: A
authors.initials: A
authors.lastname: Schweikard
mesh_terms: D001696:Biomechanical Phenomena; D004503:Education, Medical, Graduate; D004867:Equipment Design; D006706:Homeostasis; D006801:Humans; D007719:Knee Joint / Q000033:anatomy & histology; D008853:Microscopy / Q000295:instrumentation* / Q000379:methods; D016343:Monitoring, Intraoperative / Q000379:methods*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D025321:Surgery, Computer-Assisted / Q000295:instrumentation / Q000379:methods*; D013525:Surgical Instruments