Parallel robot for voice controlled camera guidance in MIS (7/2000 - 6/2001)
The aim of this project was the implementation and testing of a low cost, light weighted and speech controled robotic camera guidance system on the basis of the hexapod parallel robot system developed at the Helmholtz-Institute. Due to ist low weight of 4 kg the PAROMIS system can be easily mounted on the rail of the operating table. After sterile draping the initialisation of the system takes about 1-2 minutes and can be controlled by speech or touch screen. Finally a sterile telescope rod with a distal interface for the endoscope can be mounted on the robot. The system is equipped with integrated force-torque and position sensors. Using the control button on the camera head, the endoscope can be positioned manually. Therefore, the robot automatically follows the motion by force-torque control. Thus repeated intervention specific camera positions can be predefined and then stored via speech command. During the ongoing surgery, these positions then can be recalled via head-set and can be automatically realised again. Visual as well as acoustic feed back information about the system status is provided.