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A Simple Control Approach for Stereotactic Neurosurgery Using a Robotic Manipulator

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CONTROLO 2016

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 402))

Abstract

In this paper, it is described a simple, expandable and easily integrable robotic system to be a direct replacement to the stereotactic frame in minimally invasive neurosurgeries. Robotic systems have several advantages over the traditional frame used in stereotactic neurosurgeries such as, improved precision, steadiness and flexibility. However, the robotic systems cleared to perform this procedure are closed and costly. A robotic manipulator was selected, based on repeatability, compactness and controller accessibility. The control application developed includes a registration module to calibrate the robot to the surgical reference frame and several algorithms that allow a precise and consistent, drilling and electrode guidance. Safety was the most important factor when designing the control application, and several mechanisms were implemented that replicate the market cleared robotic systems.

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Notes

  1. 1.

    These coordinates are directly computed by the surgery planning software after selecting the electrodes’ trajectories. The ZD frame is considered to have been mounted in its 0° position.

  2. 2.

    The procedure demonstration can be visualised at: http://marl.dei.uminho.pt/public/videos/RoboticNeurosurgeryDemonstration.html.

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Author information

Authors and Affiliations

  1. Industrial Electronics Department, University of Minho, Guimarães, Portugal

    Carlos Faria & Estela Bicho

  2. Physics Department, Sciences Faculty, University of Lisbon, Lisbon, Portugal

    Carolina Vale

  3. Neurosurgery Service, Coimbra University Hospital Centre, Coimbra, Portugal

    Manuel Rito

  4. Mathematics Department, University of Minho, Guimarães, Portugal

    Wolfram Erlhagen

Authors
  1. Carlos Faria
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  2. Carolina Vale
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  3. Manuel Rito
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  4. Wolfram Erlhagen
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  5. Estela Bicho
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Corresponding author

Correspondence to Carlos Faria .

Editor information

Editors and Affiliations

  1. School of Engineering,Campus de Couros, University of Minho School of Engineering,Campus de Couros, Guimarães, Portugal

    Paulo Garrido

  2. School of Engineering,Campus de Couros, University of Minho School of Engineering,Campus de Couros, Guimarães, Portugal

    Filomena Soares

  3. Faculty of Engineering, University of Porto Faculty of Engineering, Porto, Portugal

    António Paulo Moreira

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Faria, C., Vale, C., Rito, M., Erlhagen, W., Bicho, E. (2017). A Simple Control Approach for Stereotactic Neurosurgery Using a Robotic Manipulator. In: Garrido, P., Soares, F., Moreira, A. (eds) CONTROLO 2016. Lecture Notes in Electrical Engineering, vol 402. Springer, Cham. https://doi.org/10.1007/978-3-319-43671-5_34

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  • DOI: https://doi.org/10.1007/978-3-319-43671-5_34

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-43670-8

  • Online ISBN: 978-3-319-43671-5

  • eBook Packages: EngineeringEngineering (R0)

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