Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1007/978-3-642-04268-3_50 | MICCAI |
Keywords | Field | DocType |
mobile robot,control system,system design | Computer vision,Robot control,Kinematics,Simulation,Computer science,Robot end effector,Artificial intelligence,Mobile robot navigation,Control system,Robot,Trajectory,Mobile robot | Conference |
Volume | Issue | ISSN |
12 | Pt 1 | 0302-9743 |
Citations | PageRank | References |
3 | 0.72 | 8 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gavin J. Kane | 1 | 5 | 1.85 |
| Georg Eggers | 2 | 3 | 1.40 |
| Robert Boesecke | 3 | 5 | 1.51 |
| Jörg Raczkowsky | 4 | 49 | 24.57 |
| Heinz Wörn | 5 | 491 | 106.92 |
| Rüdiger Marmulla | 6 | 8 | 3.57 |
| Joachim Mühling | 7 | 50 | 15.74 |