Development of a 6-axis Robotic Manipulator for Stereotactic Surgery

2020 XI International Conference on Electrical Power Drive Systems (ICEPDS) Pub Date : 2020-10-04 DOI:10.1109/ICEPDS47235.2020.9249271

V. Bondarenko, Andrey I Kholyavin, Yaroslav Belyaev, D. Epifanov, I. Bzhikhatlov, Mikhail Abramchuk, Maxim Mokeyev

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Abstract

The paper presents the results of development of a 6-axis robotic manipulator for stereotactic surgery. The robotic manipulator can be used for the surgical treatment of deep-located brain tumors, for the intracerebral implantation of electrodes for brain stimulation in patients with Parkinson Disease, for the treatment of epilepsy, etc. The experimental model of the low-cost robotic manipulator is described in details. Basic requirements for stereotactic robotic manipulator are as follows: workspace is not less than 0.4 m3, position accuracy is ± 0.5 mm, the ability to change the angle of the stereotactic instrument while the coordinates of its end point are the same, compatibility with the surgical navigation systems, and compliance with the requirements for medical equipment. The results of a phantom testing of the manipulator in the neurosurgery operation room using the surgical optical navigation system showed that it is possible to use this manipulator for all types of stereotactic surgery interventions on the brain.

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立体定向手术用六轴机械臂的研制

本文介绍了一种用于立体定向手术的六轴机械臂的研制结果。该机械臂可用于深部脑肿瘤的手术治疗、帕金森病患者脑内电极植入脑刺激、癫痫的治疗等。详细介绍了低成本机械臂的实验模型。对立体定向机械臂的基本要求是:工作空间不小于0.4 m3，位置精度为±0.5 mm，能够在终点坐标相同的情况下改变立体定向仪器的角度，与手术导航系统兼容，符合医疗设备的要求。利用外科光学导航系统对该机械手在神经外科手术室进行的幻像测试结果表明，该机械手可用于所有类型的脑立体定向手术干预。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2020 XI International Conference on Electrical Power Drive Systems (ICEPDS)

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