Active Surgeon Support during Orthopedic Surgery using the BOrEScOPE-Exoskeleton: System Design and First Results

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Abstract — A great number of medical robotics projects is driven by researchers all around the globe. Aim is to enhance surgery output, accelerate the procedure or to shorten post-operative convalescence. In most cases, the surgeon interacts with a machine directly by some kind of remote control in general soft tissue surgery or robotic systems recapitulate pre-programmed trajectories, e.g., during milling of cavities. One option to achieve a better acceptance in human robot interaction systems in operating theatre is to use exoskeletons for tight integration. This is widely accomplished in body rehabilitation to provide patients with continuous passive or active motion. However the way to commercial application is long for many systems. In this paper for an anthropomorphic upper extremity exoskeleton worn by the surgeon during orthopedic interventions (e.g., pedicle drilling) first results

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