Structural design of a positioning spherical parallel manipulator to be utilized in brain biopsy

Abstract

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.

Development of a spherical parallel manipulator for brain surgery applications: preliminary study on the dynamic analysis and verification

“…This study introduced a conceptual design of brain surgery manipulator that has been enhanced from two degrees of freedom spherical parallel manipulator presented in the earlier study of same authors [19]. Addition of different modules to the platform of parallel manipulator has allowed possible adaptation of the proposed system to various brain surgery operations such as craniotomy, neuroendoscopy, and deep brain stimulation.…”

“…As mentioned in previous study of the authors [19], kinematic structure of the proposed manipulator includes dual concentric arcs as the input links that are connected to the fixed ground orthogonally by utilizing revolute pairs. Each input link houses a single platform that can slide along the circumference of an arc and both of the platforms are assembled together by another revolute joint whose axis passes through the isocenter of the system.…”

“…Although the first version of the system was proved to be capable of carrying out positioning tasks in a brain biopsy mock-up trials [19], its conceptual design has been updated to increase versatility of the system. Thus, in addition to brain biopsy, it can now be utilized on various brain surgery operations such as craniotomy, neuroendoscopy, and deep brain stimulation.…”

“…1) and inverse task equations of the manipulator that were explained in detail in ref. [19] (Eq. ( 2)).…”

“…In light of related literature and by also considering the studies of robot assistance in brain surgery operations [16][17][18], this paper first presents further development of two degrees of freedom spherical parallel manipulator that was first introduced by the study of same authors [19]. Throughout the study, enhanced modular conceptual design of a manipulator to adapt various brain surgery operations was briefly introduced.…”