Robot cell for craniofacial surgery

Burghart, Catherina; Raczkowsky, Jörg; Rembold, Ulrich; Wörn, Heinz

doi:10.1109/iecon.1998.724121

Cited by 7 publications

(6 citation statements)

References 5 publications

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“…In 1998, the University of Karlsruhe in Germany used a PUMA 260 industrial robot to perform a craniotomy procedure. 5 Later in 2009, they introduced the Kuka lightweight robot 6 for craniotomy application. In collaboration with the University of Heidelberg, the same team has also raised the RobaCka robot in 2003 and successfully conducted human experiments 7 for assisting physicians for premature malformation healing.…”

Section: Full Craniotomy Robotsmentioning

confidence: 99%

“…In the kinematic loop V 1 , f VV 1 is determined by taking time derivative to equations (5) and (6), which can be rearranged as the following equation…”

Section: Velocity Modelsmentioning

confidence: 99%

“…4 Cases of fully automatic robotic systems for craniotomy still remain unusual. Only a small number of craniotomy robots were reported in literature [5][6][7][8] (which will be discussed later).…”

Section: Introductionmentioning

confidence: 99%

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Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Essomba

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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Craniotomy is an essential neurosurgical procedure to remove a section of patient's skull. In order to do this, the surgical tools need to execute a one-degree-of-freedom skull drilling followed by a two-degrees-of-freedom skull cutting. Particularly, this two-degrees-of-freedom skull cutting motion can be treated as a pivot rotation ideally. Therefore, the craniotomy tool motion is equivalent to a remote center-of-motion (RCM), which is renowned in surgical robotics. In this paper, we proposed a novel hybrid RCM mechanism for robotic craniotomy. The mechanism is made of two orthogonal parallelogram-based linkages, which make the two rotational degrees-of-freedom decoupled. We also studied the position and differential kinematics of this new architecture and analyzed its potential singular configurations. We then set the local and global kinematic performance indices for obtaining the optimal mechanism dimensions. Finally, according to the optimization result, we created a mechanical prototype to verify the motion of the designed mechanism.

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Section: Full Craniotomy Robotsmentioning

confidence: 99%

“…In the kinematic loop V 1 , f VV 1 is determined by taking time derivative to equations (5) and (6), which can be rearranged as the following equation…”

Section: Velocity Modelsmentioning

confidence: 99%

See 1 more Smart Citation

Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Essomba

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…The motors and the operator are considered at the same level in the control loop. Burghart et al 15 developed a similar approach using a force-controlled robot for craniofacial surgery. Whereas these two systems are based on an active mecha- nism, P-TER, 16 Cobot 17,18 and PADyC are based on passive joints.…”

Section: Principles Basic Principle Of the Synergymentioning

confidence: 98%

A six-degree-of-freedom passive arm with dynamic constraints (PADyC) for cardiac surgery application: Preliminary experiments

Schneider

Troccaz

2001

Comput. Aided Surg.

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The purpose of Computer-Assisted Surgery (CAS) is to help physicians and surgeons plan and execute optimal strategies from multimodal image data. The execution of such planned strategies may be assisted by guidance systems. Some of these systems, called synergistic systems, are based on the cooperation of a robotic device with a human operator. We have developed such a synergistic device: PADyC (Passive Arm with Dynamic Constraints). The basic principle of PADyC is to have a manually actuated arm that dynamically constrains the authorized motions of the surgical tool held by the human operator during a planned task. Dynamic constraints are computed from the task definition, and are implemented by a patented mechanical system. In this paper, we first introduce synergistic systems and then focus on modeling and algorithmic issues related to the dynamic constraints. Finally, we describe a 6-degree-of-freedom prototype robot designed for a clinical application (cardiac surgery) and report on preliminary experiments to date. The experimental results are then discussed, and future work is proposed.

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“…12 It also includes the literature for the generation of an operational zone and at the same time allowing the surgeon to fine tune the actual pose with robotic assistance, which is related to linear constraints. 13,14 Recently, our consortium has been developing a RAFR system supporting both remote control and human-robot cooperative control.…”

Section: Introductionmentioning

confidence: 99%

Hands‐on robot‐assisted fracture reduction system guided by a linear guidance constraints controller using a pre‐operatively planned goal pose

Kim

2018

Robotics Computer Surgery

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Background:In robot-assisted fracture reduction systems, the fine alignment of the fractured bone and its path planning are still of issues that need to be resolved. Methods:A novel linear guidance constraints (LGC) controller guides a robot along the shortest path to align a distal fracture segment and a proximal one. In addition, the surgeon can modify the path whenever s/he wants. Results:When the LGC controller is used in the experiment on a femoral bone model with simulated muscles, the fracture reduction time was measured to be 35.6 ± 16.4 seconds, while the position and the angle errors were 0.41 ± 0.61 mm, and 0.22 ± 0.80°, respectively. The proposed controller reduced the reduction time by 78.1%, the translational error by 91.6%, and the angular error by 95.4%, compared with the cases without the LGC controller. Conclusions:It was proven that the proposed scheme reduced the reduction time and the pose error of the fracture alignment, and that it is effective to alleviate the maneuvering load.

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Robot cell for craniofacial surgery

Cited by 7 publications

References 5 publications

Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

A six-degree-of-freedom passive arm with dynamic constraints (PADyC) for cardiac surgery application: Preliminary experiments

Hands‐on robot‐assisted fracture reduction system guided by a linear guidance constraints controller using a pre‐operatively planned goal pose

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