System Design of a Hand-Held Mobile Robot for Craniotomy

被引:0
|
作者
Kane, Gavin [1 ]
Eggers, Georg [1 ]
Boesecke, Robert [1 ]
Raczkowsky, Joerg [2 ]
Woern, Heinz [2 ]
Marmulla, Ruediger [1 ]
Muehling, Joachim [1 ]
机构
[1] Heidelberg Univ, Klin & Poliklin Mund Kiefer & Gesichtschirurg, Heidelberg, Germany
[2] Univ Karlsruhe, Inst Proc Control & Robot, Karlsruhe, Germany
关键词
RESECTION; BONE;
D O I
暂无
中图分类号
TP39 [计算机的应用];
学科分类号
081203 ; 0835 ;
摘要
This contribution reports the development and initial testing of a Mobile Robot System for Surgical Craniotomy, the Craniostar. A kinematic system based on a unicycle robot is analysed to provide local positioning through two spiked wheels gripping directly onto a patients skull. A control system based on a shared control system between both the Surgeon and Robot is employed in a hand-held design that is tested initially on plastic phantom and swine skulls. Results indicate that the system has substantially lower risk than present robotically assisted craniotomies, and despite being a hand-held mobile robot, the Craniostar is still capable of sub-millimetre accuracy in tracking along a trajectory and thus achieving an accurate transfer of pre-surgical plan to the operating room procedure, without the large impact of current medical robots based on modified industrial robots.
引用
收藏
页码:402 / +
页数:2
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