Development of a Parallel Surgical Robot With Automatic Bone Drilling Carriage for Stereotactic Neurosurgery

Tsai, Tzung-Cheng; Hsu, Yeh‐Liang

doi:10.1142/s1016237207000355

Cited by 8 publications

(6 citation statements)

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“…The same method is used to solve the inverse kinematics in the HM. The kinematic loop that represents this mechanism is projected for obtaining equations (11) and (12). Angles 11 and 12 must be determined prior to expressing the HM actuator coordinate with respect to the end-effector pan angle h .…”

Section: Inverse Kinematic Modelmentioning

confidence: 99%

Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Essomba

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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Craniotomy is an essential neurosurgical procedure to remove a section of patient's skull. In order to do this, the surgical tools need to execute a one-degree-of-freedom skull drilling followed by a two-degrees-of-freedom skull cutting. Particularly, this two-degrees-of-freedom skull cutting motion can be treated as a pivot rotation ideally. Therefore, the craniotomy tool motion is equivalent to a remote center-of-motion (RCM), which is renowned in surgical robotics. In this paper, we proposed a novel hybrid RCM mechanism for robotic craniotomy. The mechanism is made of two orthogonal parallelogram-based linkages, which make the two rotational degrees-of-freedom decoupled. We also studied the position and differential kinematics of this new architecture and analyzed its potential singular configurations. We then set the local and global kinematic performance indices for obtaining the optimal mechanism dimensions. Finally, according to the optimization result, we created a mechanical prototype to verify the motion of the designed mechanism.

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Section: Inverse Kinematic Modelmentioning

confidence: 99%

Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Essomba

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…The number of reported cases of petrous apex lesions are increasing with advancement in imaging technology [22–24] of which 90 per cent are inflammatory/cystic lesions [25]. Surgical access to the petrous apex involves providing a drainage channel that avoids critical structures.…”

Section: Clinical Requirements Of a Cad/cam Robot For Inner Ear Surmentioning

confidence: 99%

Percutaneous inner-ear access via an image-guided industrial robot system

Baron

Eilers

Munske

et al. 2010

Proc Inst Mech Eng H

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Image-guided robots have been widely used for bone shaping and percutaneous access to interventional sites. However, due to high-accuracy requirements and proximity to sensitive nerves and brain tissues, the adoption of robots in inner-ear surgery has been slower. In this paper the authors present their recent work towards developing two image-guided industrial robot systems for accessing challenging inner-ear targets. Features of the systems include optical tracking of the robot base and tool relative to the patient and Kalman filter-based data fusion of redundant sensory information (from encoders and optical tracking systems) for enhanced patient safety. The approach enables control of differential robot positions rather than absolute positions, permitting simplified calibration procedures and reducing the reliance of the system on robot calibration in order to ensure overall accuracy. Lastly, the authors present the results of two phantom validation experiments simulating the use of image-guided robots in inner-ear surgeries such as cochlear implantation and petrous apex access.

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“…This is because that, if it is realized, such robots can work in an environment which a person can not perform. As an example, the surgical robots have been developed [1]. If a surgeon is not on an operation site, the master system is operated in different place and the slave system can perform a surgery by the remote operation.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of length factor for cross-coupled 2-DOF motor with Halbach magnet array

Tanaka

Shimono

Fujimoto

2015

2015 IEEE International Conference on Mechatronics (ICM)

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This paper introduces an optimal design for a crosscoupled two-degree-of-freedom (2-DOF) motor. Generally, Halbach magnet array can realize high magnetic loading. Therefore, higher thrust force and torque will be obtained by employing Halbach magnet array. The proposed motor has a shaft, the permanent magnets, helical windings, and two bobbins. This structure can independently realize linear and rotary motions. Also, the mover part is constituted of the shaft and the permanent magnets which are segment shape and magnetized to the radial or the axial direction. Two kinds of magnets (magnetizations of axial and radial directions) are alternately placed at the shaft to axial direction. By determining the length factor which is the ratio between lengths of two kinds of magnets, the maximum thrust force and maximum torque will be found. In this paper, the optimal design is verified by varying the length factor of these magnets and performing the finite element analysis (FEA).

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Development of a Parallel Surgical Robot With Automatic Bone Drilling Carriage for Stereotactic Neurosurgery

Cited by 8 publications

References 0 publications

Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Percutaneous inner-ear access via an image-guided industrial robot system

Optimal design of length factor for cross-coupled 2-DOF motor with Halbach magnet array

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