In the dissertation ?robot supported force-controlled surgical cutting process on the heart? a force-controlled cutting process has been devoloped, which is performed through the SCARA-robot; this in co-operation with the ?Institut fur mechatronische Systeme (IMS)? in Winterthur. Realization has been effected in the programming language Oberon, since the robot is steered by this software.

In bypass surgery the cutting process serves to separate the artery in which the bypass is to be placed. For this purpose a cutting process is developed, which enables the force-controlled cut on a stationary object.

The cut can be performed according to any situation. An additionally used coordination sy-stem makes it possible to vary the direction of the cut and its level so as to cut the artery verti-cally down the middle. Unfortunately, the very type of construction of the robot makes it im-possible to gear the third axle in order to adjust the angle of intersection.

In order to maintain the same depth of the cut over its total length, force contol is used. This enables the strength of the point of support of the scalpel holder to remain constant, so that ? despite unevenness ? the cut can follow the surface.

This dissertation makes it possible to have the force-contolled cutting process done by the robot, further to have it extended and optimized where needed.