Mechanical design of a craniotomy robotic manipulator based on optimal kinematic and force performance

T. Essomba*, C. T. Wu, S. T. Lee, C. H. Kuo

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

The present paper introduces the mechanical design of a robotic manipulator for craniotomy application considering its kinematic and force transmission ability. The craniotomy is a surgical technique that allows the surgeon to access the patient’s brain by drilling and cutting the skull. The technical requirements of this application are explained. A dedicated mechanical architecture is proposed. This serial spherical arm is analysed in terms of kinematic and force transmission. An optimal mechanism is selected, designed and its actuator are selected to with respect to the identified performances. The global design of the manipulator is analysed and adjusted to reduce the structural deformation.

Original languageEnglish
Title of host publicationRobotics and Mechatronics - Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics
EditorsSaid Zeghloul, Med Amine Laribi, Jean-Pierre Gazeau
PublisherKluwer Academic Publishers
Pages191-198
Number of pages8
ISBN (Print)9783319223674
DOIs
StatePublished - 2016
Externally publishedYes
Event4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015 - Poitiers, France
Duration: 23 06 201525 06 2015

Publication series

NameMechanisms and Machine Science
Volume37
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015
Country/TerritoryFrance
CityPoitiers
Period23/06/1525/06/15

Bibliographical note

Publisher Copyright:
© Springer International Publishing Switzerland 2016.

Keywords

  • Craniotomy
  • Force analysis
  • Kinematics
  • Medical robot
  • Serial spherical arm

Fingerprint

Dive into the research topics of 'Mechanical design of a craniotomy robotic manipulator based on optimal kinematic and force performance'. Together they form a unique fingerprint.

Cite this