DocumentCode :
2677669
Title :
Development of a parallel surgical robot with automatic bone drilling carriage for stereotactic neurosurgery
Author :
Tsai, Tzung-Cheng ; Hsu, Yeh-Liang
Author_Institution :
Dept. of Mechanical Eng., Yuan-Ze Univ., Taiwan
Volume :
3
fYear :
2004
fDate :
10-13 Oct. 2004
Firstpage :
2156
Abstract :
Robot-assisted surgery is an active interdisciplinary field, which has applications in stereotactic neurosurgical operation, orthopedics surgery, and total knee replacements surgery etc. The conventional surgical robots are almost serial architectures, and the performances are restricted. This paper presents an ongoing research in developing a parallel surgical robot for precise skull drilling in stereotactic neurosurgical operations. We are currently developing a small occupancy surgical robot based on parallel mechanisms that has enough stiffness and accuracy. This surgical robot dimensions are 35×35×45 cm3, and its weight is 6 kg. This surgical robot has six degree-of-freedom. The feed carnage of the bone drilling device, which has one translational degree of freedom, is mounted directly on the parallel surgical robot. The workspace of this parallel surgical robot based on the tip of drill is calculated. In pose control, we have designed a master to slave microcontroller-based fuzzy control system. The possibility of asymmetric workspace design is discussed.
Keywords :
fuzzy control; manipulators; medical robotics; microcontrollers; position control; surgery; automatic bone drilling carriage; bone drilling device; feed carnage; master to slave microcontroller-based fuzzy control system; parallel mechanisms; parallel surgical robot; pose control; robot-assisted surgery; skull drilling; stereotactic neurosurgery; Bones; Control systems; Drilling; Feeds; Knee; Medical robotics; Neurosurgery; Orthopedic surgery; Robotics and automation; Skull;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 2004 IEEE International Conference on
ISSN :
1062-922X
Print_ISBN :
0-7803-8566-7
Type :
conf
DOI :
10.1109/ICSMC.2004.1400646
Filename :
1400646
Link To Document :
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