Spherical Assistant for Stereotactic Surgery

L. Ramrath, U. G. Hofmann, A. Schweikard


This contribution reports the development of a novel robotic manipulator for stereotactic surgery on small animals, the spherical assistant for stereotactic surgery (SASSU). A kinematic design is deduced based on the surgical task requirements. Forward and inverse kinematics are derived analytically. As the system is required to position medical probes of varying size and shape, details on the calibration for different probe configurations are provided. The kinematic design of the novel manipulator is compared to an existing stereotactic instrument in terms of kinematic accuracy. Results show that the SASSU systems is less sensitive to translational positioning errors induced by changes in the joint variables.

Original languageEnglish
Title of host publication2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages6
Publication date01.12.2007
Article number4398985
ISBN (Print)978-1-4244-0911-2, 978-1-4244-0912-9
Publication statusPublished - 01.12.2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
- San Diego, United States
Duration: 29.10.200702.11.2007
Conference number: 73199


Dive into the research topics of 'Spherical Assistant for Stereotactic Surgery'. Together they form a unique fingerprint.

Cite this