Background
During the last decades, there has been a great increase in the usage of robotic systems during surgeries in order to reach increased operational precision, reduced operation times, enhanced recovery periods, low infection risks, and limited scar formations for aesthetic reasons. In light of this, the current study focuses on the field of robotic surgery by introducing the kinematic structure of the precise robotic positioning manipulator for brain biopsy.
Methodology
Throughout the study, two degrees of freedom spherical parallel robot manipulator was proposed in order to position brain biopsy needle precisely during the brain biopsy operation on the target workspace.
Results
Direct and inverse kinematics of the manipulator were carried out parametrically by using quaternion algebra. The prototype of the manipulator was manufactured by rapid prototyping for hardware verification.
Conclusions
Hardware verification of the manufactured prototype was completed distinctly by using motion capture cameras and manufactured mock‐up setup that mimics tumour locations inside the brain. Successful verification results in terms of precision were achieved.
This study focuses on development, task planning, and dynamic analysis of a previously proposed spherical parallel robot manipulator that is conceptually enhanced to adapt various brain surgery scenarios. Conceptual design of the proposed manipulator was briefly introduced and explained. In order to simulate one of the possible surgery scenarios, a case study of craniotomy was designed along with its trajectory planning. Dynamic analysis of proposed manipulator was performed by Lagrange method, and required actuator torque values were calculated for the desired trajectory. At the end of the study, hardware verification was carried out on the manufactured prototype of the system by comparing both calculated/acquired torque values and desired/actual trajectories. Promising verification results in terms of system dynamics and trajectory execution were introduced.
Nowadays, most of the brain surgery operations are carried out by utilizing classical surgery methodologies and equipment. Although related literature includes studies on the robotization of brain surgery systems by the help of technological advancements, these applications mostly focused on the integration of robot manipulators that are designed for industrial automation into the medical area. Thus it can be clearly seen that, there exist lack of robot manipulators that are specifically designed for brain surgery applications, have necessary precision requirements and workspace constraints. In light of this, evaluating its preprototype performance, current study focuses on the improvement of a spherical parallel manipulator structure that was designed for positioning in robotic brain biopsy by taking operation efficiency, system reliability, workspace constraints and ease of manufacturing into consideration.
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