Conference Paper

NeuroMaster: A robot system for neurosurgery

Robotics Inst., Beihang Univ., Beijing, China
DOI: 10.1109/ROBOT.2004.1307251 Conference: Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, Volume: 1
Source: IEEE Xplore


This work introduces a robot system for minimally invasive frameless stereotactic neurosurgery. The system consists of a robot arm for precise positioning of surgical tools, a vision system for intro-operative registration, and a preoperative planning system. The robot is a custom designed accurate arm with five degree-of-freedom. The vision system uses two cameras to automatically generate the target position of the robot The robot can be controlled autonomously as well as interactively through an intuitive way. Experiments and clinical trials approve the robot system is effective and powerful.

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    • "The first robot acts as gross-motions positioner, while the last allow a fine movement. Liu and colleagues in [20] present a master-slave robotic system, named NeuroMaster, developed at the Robotics Institute of Beihang University. NeuroMaster is a five axis serial robot. "
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    ABSTRACT: In recent years, new surgical tools have been designed to improve treatment results and lower patient trauma. Nevertheless, the dexterity and accuracy required for the positioning of new tools are often unreachable, if surgeons are not assisted by suitable systems. Significant advantages are derived from the introduction of computer and robot technologies. For that reason, the interaction between robotic systems and surgeons today is producing new interest worldwide both in medical and engineering fields. In particular, medical robotics has found fruitful ground in neurosurgical applications, since the high functional density of the central nervous system requires strict accuracy constraints on tool positioning. As a matter of fact, the major benefits of robots, such as precision, accuracy and repeatability, make them ideal as neurosurgeons' assistants. This paper presents a master-slave haptic robotic system for minimally invasive neurosurgery, which can aid surgeons in performing safer and more accurate stereotactic neurosurgical treatments. The design of the proposed system is based on LANS Linear Actuator for NeuroSurgery, which has been developed by our Research Group. Experimental test aimed at showing the added value of the DAANS system over its predecessor, the effectiveness of conformational caps and of the added rotational degree of freedom are scheduled for the upcoming months.
    Applied Bionics and Biomechanics 04/2011; 8(2):209-220. DOI:10.3233/ABB-2011-0026 · 0.26 Impact Factor
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    • "Before analyzing the positioning accuracy of our robot system , the NeuroMaster, the architecture of the system will be introduced briefly. More details about this robot system can be found in [3]. Fig. 2 shows the robot system. "
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    ABSTRACT: This paper discusses the overall positioning accuracy of a neurosurgical robot system. First, the overall positioning accuracy of the robot system is analyzed and formulated. Then, the efforts are focused on improving the positioning accuracy of the robot arm. A revised Denavit--Hartenberg (D-K) kinematic model is addressed to describe two nearly parallel joint axes for the calibration of the robot. The joint transmitting error of the robot is compensated by using a backpropagation (BP) neural network. Finally, the absolute positioning accuracy of the robot arm is measured. A phantom is designed to simulate the clinical workflow of the robot-assisted neurosurgery for measuring the overall positioning accuracy of the robot system. The results show that the positioning error of the robot arm is less than 1 mm, which is comparable to that of stereotactic frames; and that the overall positioning error of the robot system is caused mainly by target registration error, which proves the effectiveness of our efforts.
    IEEE/ASME Transactions on Mechatronics 11/2007; 12(5-12):527 - 533. DOI:10.1109/TMECH.2007.905694 · 3.43 Impact Factor
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    • "Before analyzing the application accuracy of our robot system, NeuroMaster, the principle and architecture of the system will be introduced briefly first. More details about this robot system can be found in [3]. The principle of the robot system is as follows. "
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    ABSTRACT: The application accuracy is one of the most important specifications in robot-assisted stereotactic neurosurgery. This paper analyzed the application accuracy of a neurosurgical robot system and presented the details on how to improve it through improving the robot absolute positioning accuracy. Firstly the robot system was introduced briefly and the system error was analyzed. Secondly the robot was calibrated according to a revised Denavit-Hartenberg kinematic model. The neural network was used to compensate the joint transmitting error. Finally the application accuracy of the robot system was measured. The result showed that the maximum value of the application accuracy was 2.4 millimeters, and the mean value was 1.3 millimeters, which proved the effectiveness of the efforts
    Mechatronic and Embedded Systems and Applications, Proceedings of the 2nd IEEE/ASME International Conference on; 09/2006
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