Pneumatically Actuated MR-Safe Parallel Robot for Deep Brain Stimulation Electrode Implantation

Huang, Weihang; Dai, Shenghao; Xu, Anze; He, Xianyi; Huang, Shaoping; Gao, Anzhu

doi:10.1109/robio54168.2021.9739609

Cited by 3 publications

(1 citation statement)

References 25 publications

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“…Huang et al designed a 3-6 SGP needle biopsy robot for deep brain stimulation electrode implantation. It employs a crank-slider mechanism to convert the rotational motion of ultrasonic motors into linear motion [22]. However, the straight legs of an SGP inevitably restrict its system size, which is of significant importance within any medical imaging scanners.…”

Section: Related Workmentioning

confidence: 99%

Modeling, Analysis and Evaluation of a Novel Compact 6-DoF 3-RRRS Needle Biopsy Robot

Wang,

Xiang,

Xiang

et al. 2024

Mathematics

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Robot-assisted surgical systems have been widely applied for minimally invasive needle biopsies thanks to their excellent accuracy and superior stability compared to manual surgical operations, which lead to possible fatigue and misoperation due to long procedures. Current needle biopsy robots are normally customed designed for specific application scenarios, and only position-level kinematics are derived, preventing advanced speed control or singularity analysis. As a step forward, this paper aims to design a universal needle biopsy robot platform which features 6 DoF 3-RRRS (Revolute–Revolute–Revolute–Spherical) parallel structure. The analytical solutions to its nonlinear kinematic problems, including forward kinematics, inverse kinematics, and differential kinematics are derived, allowing fast and accurate feedback control calculations. A multibody simulation platform and a first-generation prototype are established next to provide comprehensive verifications for the derived robotic model. Finally, simulated puncture experiments are carried out to illustrate the effectiveness of the proposed method.

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Section: Related Workmentioning

confidence: 99%

Modeling, Analysis and Evaluation of a Novel Compact 6-DoF 3-RRRS Needle Biopsy Robot

Wang,

Xiang,

Xiang

et al. 2024

Mathematics

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Design and Implementation of A Novel 4-DoF Robot for Assisted Needle Puncture Deployment

Pan,

Jia,

Zhu

et al. 2023

2023 International Conference on Frontiers of Robotics and Software Engineering (FRSE)

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Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

Zheng,

Liang,

Gao

et al. 2024

Chin. J. Mech. Eng.

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The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures, improving the reliability of highly complex and precise surgeries. In turn, this urges the design and development of novel surgical robots to possess higher precision, stability, and enhanced motion capabilities. In response to this practical demand, this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs (parallel mechanisms), which have a total of 13 active DOFs (degrees of freedom). This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control. The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself. A comprehensive introduction and analysis of the surgical robot are provided, covering aspects such as design, kinematics, motion planning, and performance indicators. To address the pose allocation and coordination of motion between the macro platform and the micro platform, a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed. The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively. Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system. This research contributes innovative insights to the development of medical surgical robot systems, particularly in the domain of mechanism design.

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Pneumatically Actuated MR-Safe Parallel Robot for Deep Brain Stimulation Electrode Implantation

Cited by 3 publications

References 25 publications

Modeling, Analysis and Evaluation of a Novel Compact 6-DoF 3-RRRS Needle Biopsy Robot

Modeling, Analysis and Evaluation of a Novel Compact 6-DoF 3-RRRS Needle Biopsy Robot

Design and Implementation of A Novel 4-DoF Robot for Assisted Needle Puncture Deployment

Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

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