TY - GEN
T1 - Preliminary development of a skull-mounted lightweight parallel robot toward minimally invasive neurosurgery
AU - Li, Changsheng
AU - King, Nicolas Kon Kam
AU - Ren, Hongliang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/4/6
Y1 - 2018/4/6
N2 - Robotic systems play an increasingly important role in improving feasibility and effectiveness of minimally invasive neurosurgery (MIN). However, bulky or complex mechanisms limit the application of existing solutions. This paper proposes a novel robot system for MIN serving as a mechanical guidance for needles, catheters, or probes. A parallel mechanism with 4 DOFs is adopted, with the aim of providing sufficient accuracy and load capacity. The volume and the weight of the robot are only 50 mm×50 mm×40 mm and 64 g. The features of the small volume and lightweight make it possible for the robot to be mounted on the skull for the convenience of the surgeon's operation. In this paper, the mechanical design, kinematics and workspace are described in detail. Two preliminary experiments are conducted, and results are obtained to verify the load capacity and the trajectory tracking performance of the prototype.
AB - Robotic systems play an increasingly important role in improving feasibility and effectiveness of minimally invasive neurosurgery (MIN). However, bulky or complex mechanisms limit the application of existing solutions. This paper proposes a novel robot system for MIN serving as a mechanical guidance for needles, catheters, or probes. A parallel mechanism with 4 DOFs is adopted, with the aim of providing sufficient accuracy and load capacity. The volume and the weight of the robot are only 50 mm×50 mm×40 mm and 64 g. The features of the small volume and lightweight make it possible for the robot to be mounted on the skull for the convenience of the surgeon's operation. In this paper, the mechanical design, kinematics and workspace are described in detail. Two preliminary experiments are conducted, and results are obtained to verify the load capacity and the trajectory tracking performance of the prototype.
KW - minimally invasive neurosurgery
KW - neurosurgery robot
KW - parallel mechanism
KW - skull-mounted
UR - http://www.scopus.com/inward/record.url?scp=85050636521&partnerID=8YFLogxK
U2 - 10.1109/ISMR.2018.8333293
DO - 10.1109/ISMR.2018.8333293
M3 - Conference contribution
AN - SCOPUS:85050636521
T3 - 2018 International Symposium on Medical Robotics, ISMR 2018
SP - 1
EP - 6
BT - 2018 International Symposium on Medical Robotics, ISMR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Symposium on Medical Robotics, ISMR 2018
Y2 - 1 March 2018 through 3 March 2018
ER -