Control algorithms for interactive shaping [surgical robots]

In this paper a robotic system for the application in head and spinal surgery is described. The system, developed as the Surgical Robotics Lab (SRL), is distinguished from other systems by the complete interactive control by the surgeon. From the viewpoint of telemanipulation it can be interpreted as a combined master/slave manipulator. This system has already been applied clinically in maxillofacial surgery for the exact placement of implants. In this paper extensions are described for the use in spinal surgery. The advantages and arising problems are described, especially for shaping at vertebrae for the decompression of the nerve channel.