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Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Journal Article


Abstract


  • Craniotomy is an essential neurosurgical procedure to remove a section of patient's skull. In order to do this, the surgical tools need to execute a one-degree-of-freedom skull drilling followed by a two-degrees-of-freedom skull cutting. Particularly, this two-degrees-of-freedom skull cutting motion can be treated as a pivot rotation ideally. Therefore, the craniotomy tool motion is equivalent to a remote center-of-motion (RCM), which is renowned in surgical robotics. In this paper, we proposed a novel hybrid RCM mechanism for robotic craniotomy. The mechanism is made of two orthogonal parallelogram-based linkages, which make the two rotational degrees-of-freedom decoupled. We also studied the position and differential kinematics of this new architecture and analyzed its potential singular configurations. We then set the local and global kinematic performance indices for obtaining the optimal mechanism dimensions. Finally, according to the optimization result, we created a mechanical prototype to verify the motion of the designed mechanism.

Authors


  •   Li, Gao-Kuei (external author)
  •   Essomba, Terence (external author)
  •   Wu, Chieh-Tsai (external author)
  •   Lee, Shih-Tseng (external author)
  •   Kuo, Chin-Hsing

Publication Date


  • 2017

Citation


  • Li, G., Essomba, T., Wu, C., Lee, S. & Kuo, C. (2017). Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 231 (6), 1129-1145.

Scopus Eid


  • 2-s2.0-85012963431

Number Of Pages


  • 16

Start Page


  • 1129

End Page


  • 1145

Volume


  • 231

Issue


  • 6

Place Of Publication


  • United Kingdom

Abstract


  • Craniotomy is an essential neurosurgical procedure to remove a section of patient's skull. In order to do this, the surgical tools need to execute a one-degree-of-freedom skull drilling followed by a two-degrees-of-freedom skull cutting. Particularly, this two-degrees-of-freedom skull cutting motion can be treated as a pivot rotation ideally. Therefore, the craniotomy tool motion is equivalent to a remote center-of-motion (RCM), which is renowned in surgical robotics. In this paper, we proposed a novel hybrid RCM mechanism for robotic craniotomy. The mechanism is made of two orthogonal parallelogram-based linkages, which make the two rotational degrees-of-freedom decoupled. We also studied the position and differential kinematics of this new architecture and analyzed its potential singular configurations. We then set the local and global kinematic performance indices for obtaining the optimal mechanism dimensions. Finally, according to the optimization result, we created a mechanical prototype to verify the motion of the designed mechanism.

Authors


  •   Li, Gao-Kuei (external author)
  •   Essomba, Terence (external author)
  •   Wu, Chieh-Tsai (external author)
  •   Lee, Shih-Tseng (external author)
  •   Kuo, Chin-Hsing

Publication Date


  • 2017

Citation


  • Li, G., Essomba, T., Wu, C., Lee, S. & Kuo, C. (2017). Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 231 (6), 1129-1145.

Scopus Eid


  • 2-s2.0-85012963431

Number Of Pages


  • 16

Start Page


  • 1129

End Page


  • 1145

Volume


  • 231

Issue


  • 6

Place Of Publication


  • United Kingdom