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Neurobot: a special-purpose robot for neurosurgery

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6 Author(s)
Davies, B. ; Imperial Coll. of Sci., Technol. & Med., London, UK ; Starkie, S. ; Harris, S.J. ; Agterhuis, E.
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A special-purpose robot system has been developed for neurosurgery. It contains control mechanisms developed from flight-simulator experience to allow precise motion and force-control using very low-force input. The robot constrains the tool motion to a safe region using methods developed for robotic surgery. These regions are defined pre-operatively using MRI segmentation techniques developed with the help of a simulator, ROBO-SIM. The intraoperative target location is tracked in real-time using ultrasound transducers. By applying updates using the ultrasound probe, safety is maintained by compensating for brain-shift. The overall system is being evaluated on phantoms

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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