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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Available from: Yuru Zhang
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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.
    Full-text · Article · Apr 2011 · Applied Bionics and Biomechanics
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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.
    Full-text · Article · Nov 2007 · IEEE/ASME Transactions on Mechatronics
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    • "FleP is designed as a purpose built medical robot that has capabilities to carry out the long bone reduction process with an amount of intrinsic safety. FleP goes a step further from many existing medical robotic systems [1] [2] [3] [6] [12]. to be more flexible allowing its use in many procedures with interchangeable end-effecters. "
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    ABSTRACT: The principals and procedure of long bone surgery are presented and the need for robotic assistance is established. Existing problems include radiation exposure from fluoroscopy, mental strain from reconstructing 3-dimensional images and physical fatigue from overcoming fracture deforming forces. These problems are addressed by a proposed fracture reduction robot which aids in treatment planning and reduction of the fracture. A flexible parallel robot (FleP) with an active force/position controller is designed to perform the operation. A computer-aided planning treatment tool (CAPTT) provides image analysis, path planning and simulation. An advanced human machine interface (AHMI) attempts to provide a companion feeling between robot and surgeon by using human forms of communication. The result is a reduction in radiation exposure, removal of the need to reconstruct images mentally and there is no longer any physical strain
    Full-text · Conference Paper · Oct 2006
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