Adaption of the DLR MiroSurge System's Kinematics to Surgical Table Based Patient Repositioning in Minimally Invasive Surgery

In the context of minimally invasive surgery, an intraoperative repositioning of the patient may be required. Usually this is done by means of electrically actuated surgical tables. The well introduced DLR MIRO robots of the DLR MiroSurge system can be mounted to the side rails of surgical tables due to their light weight structure. In this case, however, the poses of the robot bases change with respect to each other depending on the table configuration. This paper addresses maintenance of fulcrum point, instrument tool center point (TCP), and hand-eye coordination despite variable robot bases to enhance the practical use of the MiroSurge system. Experimental results were verified with optical measuring methods, showing encouraging results