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2017 | OriginalPaper | Chapter

A Simple Control Approach for Stereotactic Neurosurgery Using a Robotic Manipulator

Authors : Carlos Faria, Carolina Vale, Manuel Rito, Wolfram Erlhagen, Estela Bicho

Published in: CONTROLO 2016

Publisher: Springer International Publishing

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Abstract

In this paper, it is described a simple, expandable and easily integrable robotic system to be a direct replacement to the stereotactic frame in minimally invasive neurosurgeries. Robotic systems have several advantages over the traditional frame used in stereotactic neurosurgeries such as, improved precision, steadiness and flexibility. However, the robotic systems cleared to perform this procedure are closed and costly. A robotic manipulator was selected, based on repeatability, compactness and controller accessibility. The control application developed includes a registration module to calibrate the robot to the surgical reference frame and several algorithms that allow a precise and consistent, drilling and electrode guidance. Safety was the most important factor when designing the control application, and several mechanisms were implemented that replicate the market cleared robotic systems.

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These coordinates are directly computed by the surgery planning software after selecting the electrodes’ trajectories. The ZD frame is considered to have been mounted in its 0° position.

The procedure demonstration can be visualised at: http://marl.dei.uminho.pt/public/videos/RoboticNeurosurgeryDemonstration.html.

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Title: A Simple Control Approach for Stereotactic Neurosurgery Using a Robotic Manipulator
Authors: Carlos Faria
Carolina Vale
Manuel Rito
Wolfram Erlhagen
Estela Bicho
Publisher: Springer International Publishing
Book: CONTROLO 2016
Print ISBN: 978-3-319-43670-8

Electronic ISBN: 978-3-319-43671-5

Copyright Year: 2017
DOI: https://doi.org/10.1007/978-3-319-43671-5_34