Using tele-robotic skull drill for neurosurgical applications

This paper first gives a brief literature review about relevant technology, including the-sate-of-art surgical robotics, the-state-of-art image-guided neurosurgery and applications, and internet-based robotics. The architecture of the proposed tele-robotic skull drill system is presented in the paper, including the, client/server control architecture for the tele-robotic skull drill system, the mechanical interface between robotic arm and the skull drill, and trajectory planning for the tele-robotic skull drill system. Controller designed for this tele-robotic system is also given in the paper, including position, orientation, and force feedback controllers in three different phases. Wave variable-based approach is employed to satisfy the stability of the tele-robotic, system. Finally, the experiment is concluded in the paper.