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Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot.

Authors :
Duan X
Gao L
Wang Y
Li J
Li H
Guo Y
Source :
Journal of healthcare engineering [J Healthc Eng] 2018 Jan 10; Vol. 2018, pp. 4670852. Date of Electronic Publication: 2018 Jan 10 (Print Publication: 2018).
Publication Year :
2018

Abstract

In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, "kinematics + optics" hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

Details

Language :
English
ISSN :
2040-2295
Volume :
2018
Database :
MEDLINE
Journal :
Journal of healthcare engineering
Publication Type :
Academic Journal
Accession number :
29599948
Full Text :
https://doi.org/10.1155/2018/4670852