Torque reduction of a reconfigurable spherical parallel mechanism based on craniotomy experimental data

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

研究成果: 雜誌貢獻期刊論文同行評審

2 引文 斯高帕斯(Scopus)

摘要

This paper deals with a robotic manipulator dedicated to craniotomy with a remote center of motion based on a Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed to handle the drilling tool through the requested craniotomy Degrees of Freedom (DoF) with two rotations. The proposed architecture allows one degree of redundancy according to the total DoF. Thus, a first contribution of this work focuses on the experimental analysis of craniotomy surgery tasks. Secondly, its behavior is improved, taking advantage of the redundancy of the SPM using the spinning motion as a reconfiguration variable. The spinning angle modulation allows the reconfigurable manipulator to minimize its motor torques. A series of motion capture and force experimentations is performed for the analysis of the kinematic and force interaction characterizing Burr hole craniotomy procedures. Experimentations were carried out by a neurosurgeon on a human cadaver, ensuring highly realistic conditions.

原文???core.languages.en_GB???
文章編號6534
期刊Applied Sciences (Switzerland)
11
發行號14
DOIs
出版狀態已出版 - 2 7月 2021

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