Mohamed, Saufi Awang
(2007)
Robotic neurosurgery: an active vision
Guided robotic arm for endoscopic and
Bone drilling maneuvers.
Masters thesis, Universiti Sains Malaysia.
Abstract
Surgical robots have been appearing in the operating room over the past decade and
neurosurgery was one of the pioneer in this area. The aims of this study were to create a
program using V+ module and to design a suitable end effector capable of holding bone
perforator and endoscope. In addition, the ability and accuracy of the robot perfonning
bone drilling and endoscopic maneuvers were assessed. The study was divided into two
parts which were bone drilling and endoscopic maneuvers. In bone drilling section,
immediately after image processing, the coordinates of the target were detennined. The
robotic arm (together with bone perforator) was simulated and driven to the target. The
insertion force by the robot was placed at minimal as to allow the bone perforator to stop
once it hit the plasticine. After a burr hole was made, the robot was instructed to move
away from the target. A total of 30 burr holes were performed at 5 different positions
(supine, sitting, right and left lateral, and prone). In endoscopic maneuver section, the
robot was initiated to recognize the targeted burr hole. The robotic arm was simulated
and driven to the targeted burr hole and placed the endoscope into the burr hole. On
command, the robot was instructed to move forward (insertion) and outward. A total of
ten burr holes were examined. In supine position, the accuracy was 1.0mm with the
repeatability value ranged from 0.04mm to 0.17mm. Time taken to do burr holes was in
the range of 13.1 to 14.3 seconds. In sitting position, the accuracy ranged from 0.1 mm to 1.0mm with the repeatability ranged from 0.1 Omm to 0.92 mm and time taken to perform
burr holes ranged from 6.6 to 10.5 seconds. In left lateral position, the accuracy was
1.0mm with repeatability of 0.03 to 0.12 mm and in right lateral position, the accuracy
ranged from 1.0mm to 2.0mm with repeatability of 0.10mm. Time taken to drill in left
and right lateral was in the range of 14.0 to 15.4 seconds and 12.5 to 13.0 seconds
respectively. In prone position, the accuracy ranged from 0.5mm to 1.0mm with
repeatability of 0.08 to 0.31 nun and the time taken to drill was in the range of 9.0
seconds to 16.6 seconds. For endoscopic procedure, the accuracy ranged from 0.3mm to
1.0mm with repeatability of 0.31nun to 0.77mm and the endoscope was able to be
inserted into all 10 burr holes. In summary, the present robotic arm has the ability to
perform basic surgical procedures although there were some limitations. Further study is
needed to refine the robotic system.
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