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A hybrid robot system for CT-guided surgery

Published online by Cambridge University Press:  07 December 2009

Da Liu,
Tianmiao Wang,
Can Tang and
Fan Zhang
Da Liu*
Affiliation:
Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, P.R. China
Tianmiao Wang
Affiliation:
Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, P.R. China
Can Tang
Affiliation:
Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, P.R. China
Fan Zhang
Affiliation:
Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, P.R. China
*
*Corresponding author. E-mail: drliuda@yahoo.com.cn
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Summary

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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.

Keywords

Surgical robotCT-guided surgeryHybrid robotScrew theoryRiemann manifoldOperation planningClinical experiment

Information

Type
Article
Information
Robotica , Volume 28 , Special Issue 2: Surgical Robotics: System Development, Application Study and Performance Analysis , March 2010, pp. 253 - 258
Copyright
Copyright © Cambridge University Press 2009

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