Using Tele-robotic Skull Drill for Neurosurgical Applications

摘要

This paper first gives a brief literature review about relevant technology, including the state-of-the-art surgical robotics, the state-of-the-art image-guided neurosurgery and applications, and Internet-based robotics. The architecture of the proposed telerobotic skull drill system is presented in the paper, including the client/server control architecture for the telerobotic skull drill system, the mechanical interface between robotic arm and the skull drill, and trajectory planning for the telerobotic skull drill system. Controller designed for this telerobotic system is also given in the paper, including position, orientation, and force feedback controllers in three different phases. Wave variable-based approach is employed to satisfy the stability of the telerobotic system. Finally, the experiment is concluded in the paper