NDLI: Design and implementation of a mechatronic device for robot-assisted neurosurgery

Content Provider	IEEE Xplore Digital Library
Author	Rossi, A. Trevisani, A. Zanotto, V.
Copyright Year	2005
Description	Author affiliation: Dept. of Innovation in Mech. & Manage., Padova Univ. (Rossi, A.; Trevisani, A.)
Abstract	Neurosurgery can take significant advantages from the introduction of computer and robot technologies. As a matter of fact, the major benefits of robots, such as precision, accuracy and repeatability make them ideal 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 interventions. The system basically comprises a slave device and a haptic master. The slave can move a laser pointer, a biopsy needle, or a low-energy X-ray emitter along a pre-planned axis. The surgeon guides the tool insertion into the brain through the haptic interface (master), which can reproduce the contact force between the surgical tool and the cerebral tissue. Moreover so as to assist the surgeons during the operations, the master can exert suitable forces on the surgeon. Such forces are computed in an appropriately designed "virtual environment". Experimental tests have been carried out to prove the accuracy of the overall system and to assess the effectiveness of the control schemes synthesized
Starting Page	7
Ending Page	12
File Size	531206
Page Count	6
File Format	PDF
ISBN	0780393546
DOI	10.1109/CCA.2005.1507092
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-28
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechatronics Robots Neurosurgery Laser surgery Haptic interfaces Master-slave Minimally invasive surgery X-ray lasers Biopsy Needles
Content Type	Text
Resource Type	Article

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