Korean Journal of Computational Design and Engineering (한국CDE학회논문집)

Society for Computational Design and Engineering (한국CDE학회)
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Prototype Development of a Robotic System for Skull Drilling

로봇을 이용한 두개골 드릴링 시스템의 프로토타입 개발

  • Chung, Yun-Chan (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • 정연찬 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2012.02.06
  • Accepted : 2012.05.09
  • Published : 2012.06.01
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Abstract

This paper presents an overview of automated robotic system for skull drilling, which is performed to access for some neurosurgical interventions, such as brain tumor resection. Currently surgeons use automatic-releasing cranial perforators. The drilling procedure must be performed very carefully to avoid penetration of brain nerve structures; however failure cases are reported. The presented prototype system utilizes both preoperative and intraoperative information. Preoperative CT image is used for robot path planning. A NeuroMate robot with a six-DOF force sensor at the end effector is used for intraoperative operation. Intraoperative cutting force from the force sensor is the key information to revise an initial registration and preoperative path plans. Some possibilities are verified by path simulation but cadaver experiments are required for validation of this prototype.

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References

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