TY - GEN
T1 - Craniotomy robot system based on human-machine parallel collaboration
AU - Zhan, Yue
AU - Duan, Xing Guang
AU - Cui, Teng Fei
AU - Han, Ding Qiang
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/1
Y1 - 2016/9/1
N2 - Craniotomy is the first choice of treatment of brain tumors, cerebrovascular disease, brain injury and cerebral hemorrhage disease, but the craniotomy method is time-consuming and laborious, the structure of skull is complex and important nerve and blood vessels distribute. As a result, the risk of craniotomy is high, and the operation is highly dependent on surgeons' experience, which leads to high pressure and fatigue of the surgeon, reducing the effectiveness of subsequent surgery. According to the characteristics of high complexity and high risk of craniotomy, this paper puts forward a craniotomy robot system based on human-machine parallel collaboration, by combining human-machine collaborative parallel control, active constraint and force feedback technology, combined the high precision of robot system with surgeon's operating experience, to guarantee comfort, safety and precision of craniotomy.
AB - Craniotomy is the first choice of treatment of brain tumors, cerebrovascular disease, brain injury and cerebral hemorrhage disease, but the craniotomy method is time-consuming and laborious, the structure of skull is complex and important nerve and blood vessels distribute. As a result, the risk of craniotomy is high, and the operation is highly dependent on surgeons' experience, which leads to high pressure and fatigue of the surgeon, reducing the effectiveness of subsequent surgery. According to the characteristics of high complexity and high risk of craniotomy, this paper puts forward a craniotomy robot system based on human-machine parallel collaboration, by combining human-machine collaborative parallel control, active constraint and force feedback technology, combined the high precision of robot system with surgeon's operating experience, to guarantee comfort, safety and precision of craniotomy.
KW - Active constraint
KW - Coordinated control
KW - Craniotomy
KW - Force feedback
KW - Security
UR - http://www.scopus.com/inward/record.url?scp=84991266103&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2016.7558719
DO - 10.1109/ICMA.2016.7558719
M3 - Conference contribution
AN - SCOPUS:84991266103
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 1119
EP - 1124
BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Y2 - 7 August 2016 through 10 August 2016
ER -
