Hexapod Intervention Planning for a Robotic Skull-Base Surgery System
| Autor: | Carl Yap, Ming Yeong Teo, Charlie Sim, Tseng Tsai Yeo, Charles Vui Hong. Lo, Wan Sing Ng, Shaoping Bai, Yong-Chong Loh |
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| Rok vydání: | 2001 |
| Předmět: | |
| Zdroj: | Medical Image Computing and Computer-Assisted Intervention – MICCAI 2001 ISBN: 9783540426974 MICCAI |
| DOI: | 10.1007/3-540-45468-3_210 |
| Popis: | This paper introduces a novel intervention planning methodology facilitating the use of a parallel manipulator (Hexapod) in a robotic skull-base surgery ("SBS") system. This safety intensive procedure requires a cavity to be created in the skull-base so as to allow access to deep-seated brain areas that are inaccessible by other routes. An image-guided system (presenting 3-D information) allows the surgeon to pre-operatively define the features that are to be avoided. Although the Hexapod used has good positioning accuracy and high stiffness, its workspace suffers from some undesirable characteristics. A novel technique has been developed to alleviate this problem by means of segregating the task-envelope (i.e. the cavity in the skull-base) and Hexapod workspace generation process. The placement of the task-envelope within the reachable workspace of the Hexapod is planned in a virtual world. This "placement" is then replicated in the physical world by the use of a dexterous base robot supporting the Hexapod. This ensures that the region encapsulated by the task-envelope encapsulated is fully reachable by the Hexapod. |
| Databáze: | OpenAIRE |
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