Kinematic Optimization of a Novel Remote Center-of-Motion Mechanism for Robotic Craniotomy
This paper introduces the kinematic design and optimization of a novel robotic manipulator for craniotomy application in neurosurgery.The craniotomy is an important surgical procedure that needs to be provided prior to brain surgery.It consists in removing a small part of the patient’s skull by drilling and cutting.The surgeon can access the brain via the hole created.This procedure requires a high level of accuracy and stability to insure the patient’s safety.A novel mechanical architecture based on a hybrid decoupled mechanism is proposed for a robotic system able to provide the entire drilling and cutting phase of the craniotomy.The presented work is first focused on the position and differential kinematics models of this architecture,before defining a kinematic performance index.Then,the kinematic optimization is processed to select the best design variables.A CAD model and a manufactured optimized prototype are presented and discussed.
Craniotomy Medical robot Hybrid architecture Kinematic Optimization
Chin-Hsing Kuo Terence Essomba Gao-Kuei Li Chieh-Tsai Wu Shih-Tseng Lee
Department of Mechanical Engineering National Taiwan University of Science and Technology,Taipei,Tai Medical Augmented Reality Research Center Chang Gung Memorial Hospital,Linkou,Taiwan Department of Neurosurgery Chang Gung Memorial Hospital,Linkou,Taiwan
国际会议
天津
英文
1-9
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）