System for Laser Osteotomy in Surgery with the Kuka Lightweight Robot – First Experimental Results

Mönnich, Holger; Stein, D. L.; Raczkowsky, Jörg; Wörn, Heinz

doi:10.1007/978-3-642-03906-5_49

Cited by 4 publications

(5 citation statements)

References 8 publications

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“…In 1998, the University of Karlsruhe in Germany used a PUMA 260 industrial robot to perform a craniotomy procedure. 5 Later in 2009, they introduced the Kuka lightweight robot 6 for craniotomy application. In collaboration with the University of Heidelberg, the same team has also raised the RobaCka robot in 2003 and successfully conducted human experiments 7 for assisting physicians for premature malformation healing.…”

Section: Full Craniotomy Robotsmentioning

confidence: 99%

“…On the other hand, the University of Karlsruhe used Kuka lightweight robot with a CO 2 laser cutting method for craniotomy. 6 In 2009, Lunghwa University of Science and Technology in Taiwan 8 proposed a method to guide robotic arm for detecting the thickness of the skull under the robot trajectory based on the assistance of computed tomography (CT). Their work made the craniotomy possible by using an industrial robotic arm (e.g.…”

Section: Full Craniotomy Robotsmentioning

confidence: 99%

“…The same method is used to find the expression of the function f FKV2 . The vector loop is written as equation (6). This equation is then projected onto axes y v and z v , leading to the following system of equation:…”

Section: Forward Kinematic Modelmentioning

confidence: 99%

“…In the kinematic loop V 1 , f VV 1 is determined by taking time derivative to equations (5) and (6), which can be rearranged as the following equation…”

Section: Velocity Modelsmentioning

confidence: 99%

“…4 Cases of fully automatic robotic systems for craniotomy still remain unusual. Only a small number of craniotomy robots were reported in literature [5][6][7][8] (which will be discussed later).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

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: Full Craniotomy Robotsmentioning

confidence: 99%

Section: Full Craniotomy Robotsmentioning

confidence: 99%

Section: Forward Kinematic Modelmentioning

confidence: 99%

“…In the kinematic loop V 1 , f VV 1 is determined by taking time derivative to equations (5) and (6), which can be rearranged as the following equation…”

Section: Velocity Modelsmentioning

confidence: 99%