Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

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...

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Bibliographic Details
Published in:Applied sciences 2021-07, Vol.11 (14), p.6534
Main Authors: Essomba, Terence, Sandoval, Juan, Laribi, Med Amine, Wu, Chieh-Tsai, Breque, Cyril, Zeghloul, Saïd, Richer, Jean-pierre
Format: Article
Language:English
Subjects:
Anthropomorphism
Cadavers
Collaboration
craniotomy
Datasets
Degrees of freedom
Drilling
Drilling equipment
Kinematics
Manipulators
Motion capture
reconfigurable spherical parallel mechanism
Reconfiguration
Robot arms
Robotic surgery
Robotics
Robots
Surgery
Torque
torque minimization
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Summary: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.
ISSN:2076-3417
2076-3417
DOI:10.3390/app11146534