The Application Accuracy of NeuroMaster: a Robot System for Stereotactic Neurosurgery

Author

Liu, Junchuan ; Zhang, Yuru ; Li, Zhen

Author_Institution

Robotics Inst., Beihang Univ., Beijing

fYear

2006

fDate

Aug. 2006

Firstpage

1

Lastpage

5

Abstract

The application accuracy is one of the most important specifications in robot-assisted stereotactic neurosurgery. This paper analyzed the application accuracy of a neurosurgical robot system and presented the details on how to improve it through improving the robot absolute positioning accuracy. Firstly the robot system was introduced briefly and the system error was analyzed. Secondly the robot was calibrated according to a revised Denavit-Hartenberg kinematic model. The neural network was used to compensate the joint transmitting error. Finally the application accuracy of the robot system was measured. The result showed that the maximum value of the application accuracy was 2.4 millimeters, and the mean value was 1.3 millimeters, which proved the effectiveness of the efforts

Keywords

medical robotics; neural nets; neurophysiology; surgery; Denavit-Hartenberg kinematic model; application accuracy; neural network; neuromaster; neurosurgical robot system; robot-assisted stereotactic neurosurgery; Biomedical imaging; Error analysis; Image analysis; Kinematics; Medical robotics; Neurosurgery; Orbital robotics; Robots; Surgery; Surges;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronic and Embedded Systems and Applications, Proceedings of the 2nd IEEE/ASME International Conference on

Conference_Location

Beijing

Print_ISBN

0-7803-9721-5

Type

conf

DOI

10.1109/MESA.2006.296994

Filename

4077821