Kinematic and Force Experiments on Cadavers for the Specification of a Tele-Operated Craniotomy Robot

Terence Essomba, Juan Sandoval, Med Amine Laribi, Chieh Tsai Wu, Cyril Breque, Said Zeghloul, Jean Pierre Richer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

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.

Original languageEnglish
Title of host publicationAdvances in Service and Industrial Robotics - Proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region RAAD 2019
EditorsKarsten Berns, Daniel Görges
PublisherSpringer Verlag
Pages447-454
Number of pages8
ISBN (Print)9783030196479
DOIs
StatePublished - 2020
Event28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019 - Kaiserslautern, Germany
Duration: 19 Jun 201921 Jun 2019

Publication series

NameAdvances in Intelligent Systems and Computing
Volume980
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365

Conference

Conference28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019
Country/TerritoryGermany
CityKaiserslautern
Period19/06/1921/06/19

Keywords

  • Cadavers
  • Craniotomy
  • Force interaction
  • Motion capture
  • Tele-operation

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