Design and simulation of an articulated surgical arm for guiding stereotactic neurosurgery

A. Majeed Kadi; Lucia J. Zamorano; Matthew P. Frazer; Yi Lu

doi:10.1117/12.58589

1 March 1992 Design and simulation of an articulated surgical arm for guiding stereotactic neurosurgery

A. Majeed Kadi, Lucia J. Zamorano, Matthew P. Frazer, Yi Lu

Proceedings Volume 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics; (1992) https://doi.org/10.1117/12.58589
Event: Aerospace Sensing, 1992, Orlando, FL, United States

Abstract

In stereotactic surgery, the need exists for means of relating intraoperatively the position and orientation of the surgical instrument used by the neurosurgeon to a known frame of reference. An articulated arm is proposed which would provide the neurosurgeon with on-line information for position, and orientation of the surgical tools being moved by the neurosurgeon. The articulated arm has six degrees of freedom, with five revolute and one prismatic joints. The design features include no obstruction to the field of view, lightweight, good balance against gravity, an accuracy of 1 mm spherical error probability (SEP), and a solvable kinematic structure making it capable of fitting the operating room environment. The arm can be mounted on either the surgical table or the stereotactic frame. A graphical simulation of the arm was created using the IGRIP simulation package created by Deneb Robotics. The simulation demonstrates the use of the arm, mounted on several positions of the ring reaching various target points within the cranium.

Citation Download Citation

A. Majeed Kadi, Lucia J. Zamorano, Matthew P. Frazer, and Yi Lu "Design and simulation of an articulated surgical arm for guiding stereotactic neurosurgery", Proc. SPIE 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics, (1 March 1992); https://doi.org/10.1117/12.58589

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