D8.2 Mechanical Adaptors Design

D8.2 "Mechanical Adaptors Design" provides a detailed look into the interfaces with which the mechanical components of the ACTIVE project will interact. These bespoke adaptors were designed to be low cost, easy to manufacture, modular and durable. The interfaces detailed here include the adaptor which constrains the KUKA LWR robots to the Active Headframe (AH), the actuated and force sensing connector between the AH and the Mayfield Clamp, and the design on the interface between the lead KUKA LWR and the necessary surgical tools. It also includes the designs of the interfaces between the follower KUKA LWR and the force sensor, the force sensor and surgical tools, the AH and the 3D camera mount and the Operating Field camera.