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Development of a parallel surgical robot with automatic bone drilling carriage for stereotactic neurosurgery

冷飒晴萱添加于 2011-11-11 10:23 | 2107 次阅读 | 0 个评论

作者
Tzung-Cheng Tsai, Yeh-Liang Hsu
摘要
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.
详细资料
- 文献种类: Conference
- 会议: 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)
- 期卷页: 2156-2161页
- 出版社: IEEE
- 位置: The Hague, Netherlands
- ISBN: 0-7803-8567-5
学科领域信息系统 » 自动化控制
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