Conceptual design and simulation of robot-assisted manipulator for stereotactic neurosurgery in the MRI-guided process
Loading...
Date
2020-12
Authors
Xu, Bocheng
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
With the development of robotic technologies, robot-assisted systems have become one of the major directions for clinical surgical interventions. Stereotactic neurosurgery, which is one of subfields of surgery, is widely used in the neurological brain surgery because of its minimally invasive and precise positioning. A traditional procedure of the stereotactic neurosurgery mainly relies on preoperative images from the magnetic resonance imaging (MRI) scanner. However, during the neurosurgery, the brain tissue deformation and shift disrupt the spatial relation between the patient and preoperative image volumes, which causes localization errors. For solving the problem, a robotic-assisted manipulator in the MRI-guided process can be applied to minimize the issue of “tissue shift” during the neurosurgery. In this research, an MRI-guided neurosurgical robot is proposed based on the MRI technology to improve the efficiency and accuracy of the neurosurgery. Highlights of the research are as follows.
(1) Based on customer's requirements, a conceptual MRI guided robot-assisted manipulator is proposed for stereotactic neurosurgical precision positioning. Technical specifications such as motors, materials, dimensions, and degrees of freedom are determined based on benchmarking products.
(2) Kinematics modeling of the proposed MRI-guided robotic manipulator is established. Its trajectory in space is planned according to actual neurosurgical clinical procedures. MATLAB simulation verifies the accuracy of kinematic models and feasibility of trajectory planning.
(3) A simulation model is built to decide the workspace of the proposed MRI-guided robotic manipulator. The strong magnetic fields are set up in Maxwell. Stresses on the manipulator in the magnetic field and effects on the strength of the static magnetic field are analyzed. The results show that the proposed manipulator can meet the surgical requirements and is safe in the MRI environment because of its low impact on the strong magnetic field.
Description
Keywords
Concept, QFD, MRI, Robot, Simulation
Citation
APA