MECHANICAL CONCEPT OF THE NEUROSURGICAL ROBOT MINERVA

被引：18

作者：

GLAUSER, D

FLURY, P

BURCKHARDT, CW

机构：

[1] Institut de Microtechnique, Ecole Polytechnique Federate de Lausanne

来源：

ROBOTICA | 1993年 / 11卷

关键词：

SURGERY; NEUROSURGERY; MINERVA;

D O I：

10.1017/S0263574700019421

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We describe a robot capable of performing all procedures necessary to carry out a complete stereotactic neurosurgical operation under the control and supervision of a surgeon. The operation consists of the introduction of a small probe with diameter 2-3 mm through a hole without trepanation. The robot has been built and is now being tested and evaluated. The accompanying control software as well as various medical probes are either in development or partially tested. The installation will be able to carry out a complete intervention under the surveillance of a computed tomography scanner. In this article we emphasize the design choices required to eliminate gearing backlash in a crucial degree of freedom.

引用

页码：567 / 575

页数：9

共 9 条

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