The kinematic architecture of the Active Headframe: A new head support for awake brain surgery

Author

Malosio, Matteo ; Negri, S.P. ; Pedrocchi, Nicola ; Vicentini, Federico ; Cardinale, F. ; Tosatti, Lorenzo Molinari

Author_Institution

Inst. of Ind. Technol. & Autom. of the Italian Nat. Res. Council, Milan, Italy

fYear

2012

fDate

Aug. 28 2012-Sept. 1 2012

Firstpage

1417

Lastpage

1421

Abstract

This paper presents the novel hybrid kinematic structure of the Active Headframe, a robotic head support to be employed in brain surgery operations for an active and dynamic control of the patient´s head position and orientation, particularly addressing awake surgery requirements. The topology has been conceived in order to satisfy all the installation, functional and dynamic requirements. A kinetostatic optimization has been performed to obtain the actual geometric dimensions of the prototype currently being developed.

Keywords

biomedical equipment; brain; geometry; medical robotics; optimisation; position control; robot kinematics; surgery; topology; active headframe novel hybrid kinematic structure; actual geometric dimensions; awake brain surgery operations; dynamic control; dynamic requirements; functional requirement; installation requirement; kinetostatic optimization; patient head orientation; patient head position; prototype; robotic head support; topology; Indexes; Joints; Kinematics; Magnetic heads; Optimization; Read only memory; Surgery; Biomechanical Phenomena; Brain; Equipment Design; Head; Humans; Immobilization; Models, Theoretical; Neurosurgical Procedures; Posture; Robotics; Wakefulness;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE

Conference_Location

San Diego, CA

ISSN

1557-170X

Print_ISBN

978-1-4244-4119-8

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/EMBC.2012.6346205

Filename

6346205