Details
| Original language | English |
|---|---|
| Title of host publication | 2014 Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 2364-2371 |
| Number of pages | 8 |
| Publication status | Published - 22 Sept 2014 |
| Event | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| Publisher | 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 subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Electrical and Electronic Engineering
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2014 Proceedings - IEEE International Conference on Robotics and Automation. 2014. p. 2364-2371 (Proceedings - IEEE International Conference on Robotics and Automation).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Design optimization of a bone-attached, redundant and reconfigurable parallel kinematic device for skull surgery
AU - Kobler, Jan Philipp
AU - Kotlarski, Jens
AU - Lexow, G. Jakob
AU - Majdani, Omid
AU - Ortmaier, Tobias
PY - 2014/9/22
Y1 - 2014/9/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84928210372&partnerID=8YFLogxK
U2 - 10.1109/icra.2014.6907187
DO - 10.1109/icra.2014.6907187
M3 - Conference contribution
AN - SCOPUS:84928210372
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2364
EP - 2371
BT - 2014 Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -