MEMS motion tracking system for surgical robot ROCH-1

What is it about?

The paper presents an alternative approach to the construction of the surgical robot trajectory adjuster by the use of MEMS type sensors: compass, gyro, and accelerometer. A miniature module with these systems can be placed directly to the surgeon's hand–or on the operator's fingers. The advantage of this adjuster is not only its low price, but also a high level of functionality associated with the extensibility regarding new software modules. An example of built-in function can be a generator of the pathway coming to the surgery field which uses spline polynomials in the representation of Catmull-Rom. The main part of the adjuster consists of two MEMS sensors which implement coupled measurement of 12 parameters of motion.The full vector of motion parameters is enough for a surgeon-operator to control the robot ROCH.

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