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Erschienen in:
2009 | OriginalPaper | Buchkapitel
System Design of a Hand-Held Mobile Robot for Craniotomy
verfasst von : Gavin Kane, Georg Eggers, Robert Boesecke, Jörg Raczkowsky, Heinz Wörn, Rüdiger Marmulla, Joachim Mühling
Erschienen in: Medical Image Computing and Computer-Assisted Intervention – MICCAI 2009
Verlag: Springer Berlin Heidelberg
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This contribution reports the development and initial testing of a Mobile Robot System for Surgical Craniotomy, the Craniostar. A kinematic system based on a unicycle robot is analysed to provide local positioning through two spiked wheels gripping directly onto a patients skull. A control system based on a shared control system between both the Surgeon and Robot is employed in a hand-held design that is tested initially on plastic phantom and swine skulls. Results indicate that the system has substantially lower risk than present robotically assisted craniotomies, and despite being a hand-held mobile robot, the Craniostar is still capable of sub-millimetre accuracy in tracking along a trajectory and thus achieving an accurate transfer of pre-surgical plan to the operating room procedure, without the large impact of current medical robots based on modified industrial robots.