The use of localizers, robots and synergistic devices in CAS

There are many roles for electromechanical devices in image guided surgery. One is to help a surgeon accurately follow a preoperative plan. Devices for this purpose may be localizers, robots, or recently, synergistic systems in which surgeon and mechanism physically share control of the surgical tool. This paper discusses available technologies, and some emerging technologies, for guiding a surgical tool. Characteristics of each technology are discussed, and related to the needs which arise in surgical procedures. Three different approaches to synergistic systems, under study by the authors (PADyC, ACROBOT, and Cobots), are highlighted.