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Robotic implantation of intracerebral electrodes for deep brain stimulation
- Publication Year :
- 2013
- Publisher :
- IEEE, 2013.
-
Abstract
- This dissertation objective is to contribute for the development of a robotic system towards neurosurgery assistance in Deep Brain Stimulation (DBS) stereotactic procedures. Being DBS neurosurgery typically a long, physically and cognitively demanding procedure; the introduction of a robotic assistant to hold, manipulate and position instrumentation would improve the medical team working conditions and lead to better surgery outcomes. Upon understanding how could the robot be used and what robotic systems were adequate to the task, we implemented a simulation environment to emulate several industrial robot manipulators and the operating room. It was also developed each robot geometric and differential kinematic equations, and control algorithms specifically oriented for DBS neurosurgery assistance. Taking into account the operating room arrangement, the robot characteristics and task requirements, we selected the most apt industrial robotic manipulator and further elaborated on its placement and orientation to achieve utmost performance.<br />This work has been partially financed by projects FP7 Marie Curie ITN - NETT (project no289146), FCT FCOMP-01-0124-FEDER-022674, Pest-C/MAT-UI0013/2011 (FCT grant ref. UMINHO/BIC/8/2012) and FCT PhD grant (ref. SFRH/BD/86499/2012).
- Subjects :
- Engineering
Deep brain stimulation
medicine.medical_treatment
0206 medical engineering
02 engineering and technology
Kinematics
law.invention
Task (project management)
03 medical and health sciences
Industrial robot
0302 clinical medicine
law
Stereotactic electrode placement
medicine
Instrumentation (computer programming)
Simulation
Science & Technology
business.industry
Robotic neurosurgery
Deep Brain Stimulation (DBS)
020601 biomedical engineering
Robotic systems
Surgery outcome
Robot
business
030217 neurology & neurosurgery
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Accession number :
- edsair.doi.dedup.....2b2ef7abc676832af3cfb712a7dce277