Kinematics of a robotized operation microscope

Markus Finke; Ralf Bruder; Achim Schweikard

doi:10.1109/IECON.2008.4758199

Kinematics of a robotized operation microscope

Markus Finke, Ralf Bruder, Achim Schweikard

Institute of Robotics and Cognitive Systems

Abstract

We present the methods for calculating the forward and inverse kinematics of a fully motorized operation microscope. With these procedures the handling of the microscope in the surgical theatre can be facilitated. Computer-controlled positioning simplifies the pivotation around a defined focus point, improves its accuracy and makes the handling intuitive. The kinematics calculations enable new functions, such as automatic alignment of the microscope at the desired position or following a trajectory of previously chosen points.

Original language	English
Title of host publication	2008 34th Annual Conference of IEEE Industrial Electronics
Number of pages	6
Publisher	IEEE
Publication date	01.01.2008
Pages	1638-1643
Article number	4758199
ISBN (Print)	978-1-4244-1767-4, 978-1-4244-1766-7
DOIs	https://doi.org/10.1109/IECON.2008.4758199
Publication status	Published - 01.01.2008
Event	34th Annual Conference of the IEEE Industrial Electronics Society - Orlando, United States Duration: 10.11.2008 → 13.11.2008 Conference number: 75770

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10.1109/IECON.2008.4758199

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title = "Kinematics of a robotized operation microscope",

abstract = "We present the methods for calculating the forward and inverse kinematics of a fully motorized operation microscope. With these procedures the handling of the microscope in the surgical theatre can be facilitated. Computer-controlled positioning simplifies the pivotation around a defined focus point, improves its accuracy and makes the handling intuitive. The kinematics calculations enable new functions, such as automatic alignment of the microscope at the desired position or following a trajectory of previously chosen points.",

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publisher = "IEEE",

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note = "34th Annual Conference of the IEEE Industrial Electronics Society , IECON 2008 ; Conference date: 10-11-2008 Through 13-11-2008",

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Finke, M, Bruder, R & Schweikard, A 2008, Kinematics of a robotized operation microscope. in 2008 34th Annual Conference of IEEE Industrial Electronics., 4758199, IECON Proceedings (Industrial Electronics Conference), IEEE, pp. 1638-1643, 34th Annual Conference of the IEEE Industrial Electronics Society , Orlando, Florida, United States, 10.11.08. https://doi.org/10.1109/IECON.2008.4758199

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AU - Bruder, Ralf

AU - Schweikard, Achim

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N2 - We present the methods for calculating the forward and inverse kinematics of a fully motorized operation microscope. With these procedures the handling of the microscope in the surgical theatre can be facilitated. Computer-controlled positioning simplifies the pivotation around a defined focus point, improves its accuracy and makes the handling intuitive. The kinematics calculations enable new functions, such as automatic alignment of the microscope at the desired position or following a trajectory of previously chosen points.

AB - We present the methods for calculating the forward and inverse kinematics of a fully motorized operation microscope. With these procedures the handling of the microscope in the surgical theatre can be facilitated. Computer-controlled positioning simplifies the pivotation around a defined focus point, improves its accuracy and makes the handling intuitive. The kinematics calculations enable new functions, such as automatic alignment of the microscope at the desired position or following a trajectory of previously chosen points.

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DO - 10.1109/IECON.2008.4758199

M3 - Conference contribution

SN - 978-1-4244-1767-4

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T2 - 34th Annual Conference of the IEEE Industrial Electronics Society

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ER -

Kinematics of a robotized operation microscope

Abstract

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