Motorization of a surgical microscope for intra-operative navigation and intuitive control

Area of Science:

• Medical engineering
• Robotics in surgery

Background:

• Manual positioning of surgical systems like microscopes is cumbersome and disrupts workflow.
• Existing robotic systems require complex kinematics and control for effective surgical assistance.
• Need for fast, flexible, and intuitive positioning solutions in surgical environments.

Purpose of the Study:

• To develop and describe a fully motorized surgical microscope.
• To present a novel control concept for robotic surgical systems.
• To improve the precision and efficiency of microscope positioning during surgery.

Main Methods:

• Detailed description of hardware components and implemented applications.
• Elucidation of kinematic equations governing the microscope's movement.
• Proposal and implementation of an innovative control strategy for automated positioning.

Main Results:

• The motorized microscope offers rapid manual handling and accurate automatic positioning.
• Positioning accuracy and repeatability are achieved within 1 mm.
• Vibrations from automatic movements dissipate within approximately 1 second, ensuring stability.

Conclusions:

• The robotic system effectively assists surgeons, enabling precise and repeatable microscope positioning.
• Seamless integration of manual and automatic control ensures agile and adaptable positioning during surgical procedures.
• The developed system enhances the clinical workflow by minimizing interruptions and improving surgical precision.