A hybrid robot system for CT-guided surgery

作者：Liu Da; Wang Tianmiao; Tang Can; Zhang Fan

来源：Robotica, 2010, 28(02): 253-258.

DOI：10.1017/S0263574709990671

• Surgical robot
• CT-guided surgery
• Hybrid robot
• Screw theory
• Riemann manifold
• Operation planning
• Clinical experiment

The common serial robot or parallel robot is difficult to implement for CT-guided surgery in a limited workspace. A novel hybrid robot with 9 degrees of freedom is presented in this paper, whose detailed structure is analysed based on screw theory and displacement manifold (DM). The dexterity of the hybrid robot is provided in terms of Riemann manifold (RM). Besides, DICOM (digital imaging communications in medicine) image processing, spatial registration and 3D dynamic reconstruction in the operation planning subsystem are analysed, in which some innovative methods are introduced. Meanwhile, the architecture of the CT-guided hybrid robot system and its subsystems are proposed. Simulative clinical experiment showed that the locating precision of the hybrid robot reaches 1.08 mm, which can meet the requirement of CT-guided Surgery.

• 出版日期2010-3
• 单位北京航空航天大学