Conference Paper

Trajectory Verification and Control of 5R Spherical Parallel Mechanism for Neurosurgeries

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Article
Background Neurosurgery demands high precision, and robotic‐assisted systems are increasingly employed to enhance surgical outcomes. This study focuses on a hybrid robotic‐assisted system for neurosurgery, addressing forward and inverse kinematics, Jacobian matrices, and system singularities. Methods The system is simulated using MATLAB/Simscape Multibody to achieve accurate kinematic and dynamic representations. An inverse kinematics framework was developed for generating and validating a circular trajectory at the end‐effector tip. Two control strategies are compared: traditional active joint PID control and combined trajectory feedback plus feedforward control. Results The combined control strategy significantly improves performance, reducing the maximum absolute error of each output by an average of 46.5% and the mean square error by 50.31% under optimal conditions. Conclusion The findings highlight the potential of trajectory feedback and feedforward control to enhance the precision and reliability of robotic‐assisted neurosurgical procedures.
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Robotic surgery has been the forte of minimally invasive stereo-tactic procedures for some decades now. Ongoing advancements and evolutionary developments require substantial evidence to build the consensus about its efficacy in the field of neurosurgery. Main obstacle in obtaining successful results in neurosurgery is fine neural structures and other anatomical limitations. Currently, human rationalisation and robotic precision works in symbiosis to provide improved results. We reviewed the current data about recent interventions. Robots are capable of providing virtual data, superior spatial resolution and geometric accuracy, superior dexterity, faster manoeuvring and non-fatigability with steady motion. Robotic surgery also allows simulation of virtual procedures which turn out to be of great succour for young apprentice surgeons to practise their surgical skills in a safe environment. It also allows senior professionals to rehearse difficult cases before involving into considerable risky procedures.
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The spherical 5R parallel manipulator is a typical parallel manipulator. It can be used as a pointing device or as a minimally invasive surgical robot. This study addresses the motion/force transmission analysis and optimization of the manipulator by taking into account the motion/force transmissibility. The kinematics of the manipulator is analyzed. Several transmission indices are defined by using screw theory for the performance evaluation and dimensional synthesis. The process of determining the optimal angular parameters based on performance charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified.
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Robotic systems have been introduced in surgery to increase the intervention accuracy. In this framework, the ROBOCAST system is an optically controlled multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system is composed by three robots, connected as a multiple kinematic chain (serial, parallel and linear) totaling 13 degrees of freedom (DoFs) and is it is used to automatically align the probe onto the desired trajectory. This paper presents an iterative approach for aligning the surgical probe with the planned target pose, reducing both the translation and the rotation errors. An experimental protocol was designed, in order to assess the system performances in terms of residual targeting errors and convergence ratio. The proposed targeting procedures allows obtaining (0.06 ± 0.02) mm and (0.8 ± 0.2) × 10-3 rad as residual median errors, thus satisfying the operational requirements (1 mm). The performances proved to be independent upon the robots calibration accuracy.
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Robotic surgery has been the forte of minimally invasive stereo-tactic procedures for some decades now. Ongoing advancements and evolutionary developments require substantial evidence to build the consensus about its efficacy in the field of neurosurgery. Main obstacle in obtaining successful results in neurosurgery is fine neural structures and other anatomical limitations. Currently, human rationalisation and robotic precision works in symbiosis to provide improved results. We reviewed the current data about recent interventions. Robots are capable of providing virtual data, superior spatial resolution and geometric accuracy, superior dexterity, faster manoeuvring and non-fatigability with steady motion. Robotic surgery also allows simulation of virtual procedures which turn out to be of great succour for young apprentice surgeons to practise their surgical skills in a safe environment. It also allows senior professionals to rehearse difficult cases before involving into considerable risky procedures.
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There have recently been a number of advances in our knowledge of the organization of complex, multi-joint movements. Promising starts have been made in our understanding of how the motor system translates information about the location of external targets into motor commands encoded in a body-based coordinate system. Two simplifying strategies for trajectory control that are discussed are parallel specification of response features and the programming of equilibrium trajectories. New insights have also been gained into how neural systems process sensory information to plan and assist with task performance. A number of recent papers emphasize the feedforward use of sensory input, which is mediated through models of the external world, the body's physical plant, and the task structure. These models exert their influence at both reflex and higher levels and permit the preparation of predictive default parameters of trajectories as well as strategies for resolving task demands.
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The use of a Unimation Puma 200 robot, properly interfaced with a computerized tomographic (CT) scanner and with a probe guide mounted at its end effector for CT-guided brain tumor biopsis is discussed. Once the target is identified on the CT picture, a simple command allows the robot to move to a position such that the end-effector probe guide points toward the target. This results in a procedure faster than one using a manually adjustable frame. Probably the most important advantage, as is shown, is the improved accuracy that can be achieved by proper calibration of the robot.
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In the field of otorhinolaryngology, a variety of skull implants have been developed to assist hearing-impaired or even deaf patients. The first step in the implantation procedure, and also in lateral skull-base surgery, is to drill the calvarian or mastoid bone. We intended to investigate the hitherto unknown parameters for performing this procedure and to establish the first set-up for robotic milling of the lateral skull base. Experimental milling of the skull base was conducted on two human specimens using a hexapod robot. Optimized parameters were determined with a drill speed of 30,000 revolutions/min and a form feed rate of 5 mm/s for the calvarium and 1 mm/s for mastoid bone, respectively, in a spiral-path fashion. While using a cutting burr, mean force levels were 4.81 N for calvarian bone and 6.12 N for mastoid bone, respectively--well below our empirical limit of 10 N. However, maximum levels easily surpassed these limits, reaching 27.7 N. The prerequisites for robotic skull-base surgery were fulfilled. With further work to implement feedback of sensory input, robots may increase precision for various tasks in skull-base surgery.
SurgiScope To cite this version?: HAL Id?: hal-00451933
  • briot
SurgiScope To cite this version : HAL Id : hal-00451933
  • S Briot
  • C Baradat
  • S Guegan
  • V Arakelian