A hybrid robot system for ct-guided surgery

Authors:
Da Liu;Tianmiao Wang;Can Tang;Fan Zhang
Affiliations:
Robotics institute, school of mechanical engineering and automation, beihang university, beijing 100191, p.r. china;Robotics institute, school of mechanical engineering and automation, beihang university, beijing 100191, p.r. china;Robotics institute, school of mechanical engineering and automation, beihang university, beijing 100191, p.r. china;Robotics institute, school of mechanical engineering and automation, beihang university, beijing 100191, p.r. china
Venue:
Robotica
Year:
2010

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Abstract

The common serial robot or parallel robot is difficult to implement for CT-guided surgery in a limited workspace. A novel hybrid robot with 9 degrees of freedom is presented in this paper, whose detailed structure is analysed based on screw theory and displacement manifold (DM). The dexterity of the hybrid robot is provided in terms of Riemann manifold (RM). Besides, DICOM (digital imaging communications in medicine) image processing, spatial registration and 3D dynamic reconstruction in the operation planning subsystem are analysed, in which some innovative methods are introduced. Meanwhile, the architecture of the CT-guided hybrid robot system and its subsystems are proposed. Simulative clinical experiment showed that the locating precision of the hybrid robot reaches 1.08 mm, which can meet the requirement of CT-guided surgery.