Abstract
This paper introduces a novel intervention planning methodology facilitating the use of a parallel manipulator (Hexapod) in a robotic skull-base surgery (“SBS”) system. This safety intensive procedure requires a cavity to be created in the skull-base so as to allow access to deep-seated brain areas that are inaccessible by other routes. An image-guided system (presenting 3-D information) allows the surgeon to pre-operatively define the features that are to be avoided. Although the Hexapod used has good positioning accuracy and high stiffness, its workspace suffers from some undesirable characteristics. A novel technique has been developed to alleviate this problem by means of segregating the task-envelope (i.e. the cavity in the skull-base) and Hexapod workspace generation process. The placement of the task-envelope within the reachable workspace of the Hexapod is planned in a virtual world. This “placement” is then replicated in the physical world by the use of a dexterous base robot supporting the Hexapod. This ensures that the region encapsulated by the task-envelope encapsulated is fully reachable by the Hexapod.
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© 2001 Springer-Verlag Berlin Heidelberg
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Sim, C. et al. (2001). Hexapod Intervention Planning for a Robotic Skull-Base Surgery System. In: Niessen, W.J., Viergever, M.A. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2001. MICCAI 2001. Lecture Notes in Computer Science, vol 2208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45468-3_210
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DOI: https://doi.org/10.1007/3-540-45468-3_210
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-42697-4
Online ISBN: 978-3-540-45468-7
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