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.

Original language	English
Title of host publication	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages	6
Publisher	IEEE
Publication date	01.12.2007
Pages	859-864
Article number	4398985
ISBN (Print)	978-1-4244-0911-2, 978-1-4244-0912-9
DOIs	https://doi.org/10.1109/IROS.2007.4398985
Publication status	Published - 01.12.2007
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems - San Diego, United States Duration: 29.10.2007 → 02.11.2007 Conference number: 73199

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10.1109/IROS.2007.4398985

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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, pp. 859-864, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
, San Diego, California, United States, 29.10.07. https://doi.org/10.1109/IROS.2007.4398985

Spherical Assistant for Stereotactic Surgery. / Ramrath, L.; Hofmann, U. G.; Schweikard, A.
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2007. p. 859-864 4398985 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

TY - GEN

T1 - Spherical Assistant for Stereotactic Surgery

AU - Ramrath, L.

AU - Hofmann, U. G.

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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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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

SP - 859

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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