A Workflow for Robot Assisted Neurosurgery

Author

Liu, Da ; Wang, Tianmiao

Author_Institution

Robotics Inst., Beijing Univ. of Aeronaut. & Astronautics

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2870

Lastpage

2875

Abstract

This paper introduces a workflow for robot assisted neurosurgery. The system consists of a robot for precise positioning and a vision system for intro-operative registration. The vision system uses two cameras and templates to automatically track dynamic targets. In order to accurately position the end of the robot during operation, the robot arm must occupy the least space, be easy to move and be well balanced. Cylindrical configuration is chosen in this case as a suitable type of arm. Based on the Jacobian matrix of robot and the conditioning number of the matrix, the optimal dexterous region of the robot is found to satisfy desired dexterity. The successful clinical application verifies the effectiveness of the robot system

Keywords

Jacobian matrices; manipulator dynamics; medical computing; medical robotics; neurocontrollers; position control; robot vision; Jacobian matrix; introoperative registration; optimal dexterous region; robot assisted neurosurgery; vision system; Intelligent robots; Machine vision; Medical robotics; Minimally invasive surgery; Neurosurgery; Orbital robotics; Robot kinematics; Robot vision systems; Robotics and automation; Target tracking; Dexterity; Registration; Robot assisted neurosurgery; Robot configuration;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282075

Filename

4058829