Abstract
This paper presents a preliminary study for the characterization of Burr hole craniotomy procedures, in order to define the specifications for the design of a tele-operated craniotomy robot. Surgeon’s gestures are recorded through a motion capture system during the execution of several craniotomy tasks, allowing to characterize the drilling tool range movements. Moreover, a tele-operated platform is used to record the interaction forces produced between the drilling tool and the human skull during the procedure, obtaining an order of magnitude of the force feedback a dedicated tele-operated craniotomy system would need to provide during a craniotomy procedure.
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Acknowledgements
The present work has been supported by a collaboration project between Taiwan’s MOST (107-2911-I-008-505) and France’s CNRS (PRC2142). This work was also sponsored by the French government research program Investissements d’avenir through the Robotex Equipment of Excellence (ANR-10-EQPX-44).
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Essomba, T. et al. (2020). Kinematic and Force Experiments on Cadavers for the Specification of a Tele-Operated Craniotomy Robot. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_51
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DOI: https://doi.org/10.1007/978-3-030-19648-6_51
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