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Criteria for Comparison of Robot Movement Trajectories and Manual Movements of a Doctor for Performing Maxillofacial Surgeries

Andrei A. Vorotnikov 1, Daniil D. Klimov 1, Elena A. Melnichenko 1, Yuri V. Poduraev 1, and Ernest A. Bazykyan 2
1. MSTU “STANKIN”, Moscow, Russia
2. MSUMD named after A.I. Evdokimov, Moscow, Russia

Abstract—In this article, in order to justify the expediency of using a robot in maxillofacial operations with a diode laser, four basic criteria for comparing typical trajectories are presented, which allow quantifying the program movements of the robot and the manual movements of the surgeon. The presented comparison criteria are in part based on the ISO 9283. An experimental setup has been developed for the research, in which the medical instrument is moved using the robot KUKA LWR 4+. The robot’s movements are measured using a coordinate measuring machine, a laser tracker. Along with the measurements of the program movements of the robot, the manual movements of the surgeon are also measured.

Index Terms—medical robotics, collaborative robotics, human–machine cooperative system, surgical assistants, laser tracker, trajectory evaluation, accuracy, diode laser

Cite: Andrei A. Vorotnikov, Daniil D. Klimov, Elena A. Melnichenko and Yuri V. Poduraev, and Ernest A. Bazykyan, "Criteria for Comparison of Robot Movement Trajectories and Manual Movements of a Doctor for Performing Maxillofacial Surgeries," International Journal of Mechanical Engineering and Robotics Research, Vol. 7, No. 4, pp. 361-366, July 2018. DOI: 10.18178/ijmerr.7.4.361-366

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