Mechanical concept of the neurosurgical robot ‘Minerva’-Reference-Cited by-同舟云学术

Mechanical concept of the neurosurgical robot ‘Minerva’

Published:1993-11 Issue:6 Volume:11 Page:567-575
ISSN:0263-5747
Container-title:Robotica
language:en
Short-container-title:Robotica

Author:

Glauser D.,Flury P.,Burckhardt C. W.

Abstract

We describe a robot capable of performing all procedures necessary to carry out a complete stereotactic neurosurgical operation under the control and supervision of a surgeon. The operation consists of the introduction of a small probe with diameter 2–3 mm through a hole without trepanation. The robot has been built and is now being tested and evaluated. The accompanying control software as well as various medical probes are either in development or partially tested. The installation will be able to carry out a complete intervention under the surveillance of a computed tomography scanner. In this article we emphasize the design choices required to eliminate gearing backlash in a crucial degree of freedom.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference5 articles.

1. 3. Glauser D. , “Conception of a robot dedicated to neurosurgery” Proc. ICAR ‘91 Conf., Pisa (1991) pp. 899–904.

2. Configuration of a Robot Dedicated to Stereotactic Surgery

3. 4. Flury P. , “Minerva, a robot dedicated to neurosurgery operations” Proc. 23rd ISIR, Oct. 1992, Barcelona (1992) pp. 729–733.

4. 5. Villotte N. , “Conception of stereotactic instruments for the neurosurgical robot Minerva” Proc. 14th Annual Conf. of IEEE Engineering in Medicine and Biology Soc., Nov. 1992, Paris (1992) pp. 1089–1090.

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