Design optimization of a bone-attached, redundant and reconfigurable parallel kinematic device for skull surgery

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Autoren

  • Jan Philipp Kobler
  • Jens Kotlarski
  • G. Jakob Lexow
  • Omid Majdani
  • Tobias Ortmaier

Organisationseinheiten

Externe Organisationen

  • Medizinische Hochschule Hannover (MHH)
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Titel des Sammelwerks2014 Proceedings - IEEE International Conference on Robotics and Automation
Seiten2364-2371
Seitenumfang8
PublikationsstatusVeröffentlicht - 22 Sept. 2014
Veranstaltung2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Dauer: 31 Mai 20147 Juni 2014

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
ISSN (Print)1050-4729

Abstract

Bone-attached robots and so-called microstereo-tactic frames are attracting increasing interest in the field of robot-assisted surgery due to the promising targeting accuracy they provide. The authors propose a passive Stewart-Gough platform which is attached to a patient's head via bone anchors. It serves as an instrument guidance in straight line incisions, such as minimally invasive cochlear implantation. In this contribution a modified version of the mechanism's kinematics is proposed, which reduces the number of required bone anchors from six to three. Furthermore, a novel statistical approach to optimize the design variables of the moving platform for accuracy is presented. It is characterized by the ability to take the probability distributions of all relevant error sources as well as the given task redundancy and reconfigurability of the mechanism into account. Based on identified ranges of trajectories and possible bone anchor locations, the optimization problem is solved for a representative number of 1,000 'virtual patients'. The optimum mechanism design is obtained by analyzing the resulting distributions of design variables. Monte Carlo simulation is used to compare its targeting errors to those of a previous prototype. Results reveal that the targeting error is significantly reduced in comparison to an initial prototype thanks to the proposed optimization strategy.

ASJC Scopus Sachgebiete

Zitieren

Design optimization of a bone-attached, redundant and reconfigurable parallel kinematic device for skull surgery. / Kobler, Jan Philipp; Kotlarski, Jens; Lexow, G. Jakob et al.
2014 Proceedings - IEEE International Conference on Robotics and Automation. 2014. S. 2364-2371 (Proceedings - IEEE International Conference on Robotics and Automation).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Kobler, JP, Kotlarski, J, Lexow, GJ, Majdani, O & Ortmaier, T 2014, Design optimization of a bone-attached, redundant and reconfigurable parallel kinematic device for skull surgery. in 2014 Proceedings - IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, S. 2364-2371, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31 Mai 2014. https://doi.org/10.1109/icra.2014.6907187
Kobler, J. P., Kotlarski, J., Lexow, G. J., Majdani, O., & Ortmaier, T. (2014). Design optimization of a bone-attached, redundant and reconfigurable parallel kinematic device for skull surgery. In 2014 Proceedings - IEEE International Conference on Robotics and Automation (S. 2364-2371). (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/icra.2014.6907187
Kobler JP, Kotlarski J, Lexow GJ, Majdani O, Ortmaier T. Design optimization of a bone-attached, redundant and reconfigurable parallel kinematic device for skull surgery. in 2014 Proceedings - IEEE International Conference on Robotics and Automation. 2014. S. 2364-2371. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/icra.2014.6907187
Kobler, Jan Philipp ; Kotlarski, Jens ; Lexow, G. Jakob et al. / Design optimization of a bone-attached, redundant and reconfigurable parallel kinematic device for skull surgery. 2014 Proceedings - IEEE International Conference on Robotics and Automation. 2014. S. 2364-2371 (Proceedings - IEEE International Conference on Robotics and Automation).
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abstract = "Bone-attached robots and so-called microstereo-tactic frames are attracting increasing interest in the field of robot-assisted surgery due to the promising targeting accuracy they provide. The authors propose a passive Stewart-Gough platform which is attached to a patient's head via bone anchors. It serves as an instrument guidance in straight line incisions, such as minimally invasive cochlear implantation. In this contribution a modified version of the mechanism's kinematics is proposed, which reduces the number of required bone anchors from six to three. Furthermore, a novel statistical approach to optimize the design variables of the moving platform for accuracy is presented. It is characterized by the ability to take the probability distributions of all relevant error sources as well as the given task redundancy and reconfigurability of the mechanism into account. Based on identified ranges of trajectories and possible bone anchor locations, the optimization problem is solved for a representative number of 1,000 'virtual patients'. The optimum mechanism design is obtained by analyzing the resulting distributions of design variables. Monte Carlo simulation is used to compare its targeting errors to those of a previous prototype. Results reveal that the targeting error is significantly reduced in comparison to an initial prototype thanks to the proposed optimization strategy.",
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