Development of a parallel surgical robot with automatic bone drilling carriage for stereotactic neurosurgery

Tsai, Tzung-Cheng; Hsu, Yeh‐Liang

doi:10.1109/icsmc.2004.1400646

Cited by 5 publications

(2 citation statements)

References 26 publications

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“…Other systems to position a drill mounted on an automated feeding device have been developed for spinal fusion [12] and neurosurgical [13] procedures. For each of these systems the drilling portion consists of one actuator for rotating the drill that is mounted on a carriage driven by another actuator.…”

Section: Introductionmentioning

confidence: 99%

“…For each of these systems the drilling portion consists of one actuator for rotating the drill that is mounted on a carriage driven by another actuator. The drilling system mentioned in [13] is described in detail in [14] and consists of a large metallic structure. It is equipped with a control system that monitors current drawn by the motors in order to detect when the drill passes through different layers of bone tissue.…”

Section: Introductionmentioning

confidence: 99%

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CT-Compatible Medical Drilling Stylet

Walsh

Meskers

Slocum

et al. 2012

Journal of Medical Devices

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This paper describes the design of a compact, lightweight CT-compatible, drill-press that is designed to be used in either a hand-held or stand-alone mode to assist with percutaneous bone based interventions. Previous medical drilling tools that have been developed have a metal structure and typically have one actuator for advancing the drill (feed) and another for rotating it (speed). After defining the device functional requirements and specifications, a deterministic design process was followed to generate several design concepts that were then evaluated based on their ability to satisfy the functional requirements. A final concept that uses a custom screw-spline to achieve helical motion of a shaft that is attached to a standard orthopedic drill was selected for prototyping. The design uses a single actuator to drive both the screw and spline nuts through two different gear ratios, resulting in a fixed ratio between the feed and speed. Apart from the motor which is placed away from the central drill axis, the device is largely made from plastic materials. A custom experimental setup was developed that enabled drilling into bone inside a CT scanner to be examined. Results showed that the device was successfully able to penetrate thick cortical bone and that its structure did not appreciably distort the medical images.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

CT-Compatible Medical Drilling Stylet

Walsh

Meskers

Slocum

et al. 2012

Journal of Medical Devices

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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 six degree of freedom (DOF) hybrid robot for femur shaft fracture reduction

Chen

2009

2008 IEEE International Conference on Robotics and Biomimetics

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Development of a parallel surgical robot with automatic bone drilling carriage for stereotactic neurosurgery

Cited by 5 publications

References 26 publications

CT-Compatible Medical Drilling Stylet

CT-Compatible Medical Drilling Stylet

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

Development of a six degree of freedom (DOF) hybrid robot for femur shaft fracture reduction

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