Spherical Assistant for Stereotactic Surgery

L. Ramrath; U. G. Hofmann; A. Schweikard

doi:10.1109/IROS.2007.4398985

Spherical Assistant for Stereotactic Surgery

L. Ramrath, U. G. Hofmann, A. Schweikard

Abstract

This contribution reports the development of a novel robotic manipulator for stereotactic surgery on small animals, the spherical assistant for stereotactic surgery (SASSU). A kinematic design is deduced based on the surgical task requirements. Forward and inverse kinematics are derived analytically. As the system is required to position medical probes of varying size and shape, details on the calibration for different probe configurations are provided. The kinematic design of the novel manipulator is compared to an existing stereotactic instrument in terms of kinematic accuracy. Results show that the SASSU systems is less sensitive to translational positioning errors induced by changes in the joint variables.

Originalsprache	Englisch
Titel	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Seitenumfang	6
Herausgeber (Verlag)	IEEE
Erscheinungsdatum	01.12.2007
Seiten	859-864
Aufsatznummer	4398985
ISBN (Print)	978-1-4244-0911-2, 978-1-4244-0912-9
DOIs	https://doi.org/10.1109/IROS.2007.4398985
Publikationsstatus	Veröffentlicht - 01.12.2007
Veranstaltung	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems - San Diego, USA / Vereinigte Staaten Dauer: 29.10.2007 → 02.11.2007 Konferenznummer: 73199

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@inproceedings{754ac293e7e94e929760d0afd1c3c43f,

title = "Spherical Assistant for Stereotactic Surgery",

abstract = "This contribution reports the development of a novel robotic manipulator for stereotactic surgery on small animals, the spherical assistant for stereotactic surgery (SASSU). A kinematic design is deduced based on the surgical task requirements. Forward and inverse kinematics are derived analytically. As the system is required to position medical probes of varying size and shape, details on the calibration for different probe configurations are provided. The kinematic design of the novel manipulator is compared to an existing stereotactic instrument in terms of kinematic accuracy. Results show that the SASSU systems is less sensitive to translational positioning errors induced by changes in the joint variables.",

author = "L. Ramrath and Hofmann, {U. G.} and A. Schweikard",

year = "2007",

month = dec,

day = "1",

doi = "10.1109/IROS.2007.4398985",

language = "English",

isbn = "978-1-4244-0911-2",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

pages = "859--864",

booktitle = "2007 IEEE/RSJ International Conference on Intelligent Robots and Systems",

note = "2007 IEEE/RSJ International Conference on Intelligent Robots and Systems <br/>, IROS 2007 ; Conference date: 29-10-2007 Through 02-11-2007",

}

Ramrath, L, Hofmann, UG & Schweikard, A 2007, Spherical Assistant for Stereotactic Surgery. in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems., 4398985, IEEE International Conference on Intelligent Robots and Systems, IEEE, S. 859-864, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
, San Diego, California, USA / Vereinigte Staaten, 29.10.07. https://doi.org/10.1109/IROS.2007.4398985

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T1 - Spherical Assistant for Stereotactic Surgery

AU - Ramrath, L.

AU - Hofmann, U. G.

AU - Schweikard, A.

N1 - Conference code: 73199

PY - 2007/12/1

Y1 - 2007/12/1

N2 - This contribution reports the development of a novel robotic manipulator for stereotactic surgery on small animals, the spherical assistant for stereotactic surgery (SASSU). A kinematic design is deduced based on the surgical task requirements. Forward and inverse kinematics are derived analytically. As the system is required to position medical probes of varying size and shape, details on the calibration for different probe configurations are provided. The kinematic design of the novel manipulator is compared to an existing stereotactic instrument in terms of kinematic accuracy. Results show that the SASSU systems is less sensitive to translational positioning errors induced by changes in the joint variables.

AB - This contribution reports the development of a novel robotic manipulator for stereotactic surgery on small animals, the spherical assistant for stereotactic surgery (SASSU). A kinematic design is deduced based on the surgical task requirements. Forward and inverse kinematics are derived analytically. As the system is required to position medical probes of varying size and shape, details on the calibration for different probe configurations are provided. The kinematic design of the novel manipulator is compared to an existing stereotactic instrument in terms of kinematic accuracy. Results show that the SASSU systems is less sensitive to translational positioning errors induced by changes in the joint variables.

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U2 - 10.1109/IROS.2007.4398985

DO - 10.1109/IROS.2007.4398985

M3 - Conference contribution

SN - 978-1-4244-0911-2

SN - 978-1-4244-0912-9

T3 - IEEE International Conference on Intelligent Robots and Systems

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EP - 864

BT - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems <br/>

Y2 - 29 October 2007 through 2 November 2007

ER -

Spherical Assistant for Stereotactic Surgery

Abstract

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