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- Title
A hybrid robot system for CT-guided surgery.
- Authors
Da Liu; Tianmiao Wang; Can Tang; Fan Zhang
- Abstract
The common serial robot or parallel robot is difficult to implement for CT-guided surgery in a limited workspace. A novel hybrid robot with 9 degrees of freedom is presented in this paper, whose detailed structure is analysed based on screw theory and displacement manifold (DM). The dexterity of the hybrid robot is provided in terms of Riemann manifold (RM). Besides, DICOM (digital imaging communications in medicine) image processing, spatial registration and 3D dynamic reconstruction in the operation planning subsystem are analysed, in which some innovative methods are introduced. Meanwhile, the architecture of the CT-guided hybrid robot system and its subsystems are proposed. Simulative clinical experiment showed that the locating precision of the hybrid robot reaches 1.08 mm, which can meet the requirement of CT-guided surgery.
- Subjects
SURGICAL robots; RIEMANN hypothesis; OPERATIVE surgery; CLINICAL trials; DICOM (Computer network protocol)
- Publication
Robotica, 2010, Vol 28, Issue 2, p253
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574709990671