Start Date
13-5-2021 10:30 AM
End Date
13-5-2021 10:50 AM
Document Type
Full Paper
Keywords
Medical Robotics, Surgical Navigation, Brain Biopsy Manipulator
Description
By the help of technological advances, robotic systems supported by surgical navigation procedures are becoming an integral part of the medical field. Due to the fact that getting high quality visual feedback from target workspace is one of the most important factors affecting surgeons’ operation precision, current computer and imaging technologies in the medical field has started to focus on the possible ways of implementing virtual navigation methodologies to surgical robotics. Thus, surgical navigation systems have started to take place in many surgical operations in order to track surgical tools inside the operation volume. In light of this, current study tries to implement surgical navigation methodologies into a spherical manipulator that was previously designed by the same group for robotic brain biopsy operations. Throughout the study OptiTrack V100R2 motion capture cameras were utilized to track manipulator motions. Once the structural model of related robot manipulator was transferred to the virtual environment, least squares point based registration methodology was utilized in order to relate virtual and real workspaces together. At the end of the study, performance evaluation of the system was carried out by giving tumor locations from the virtual environment and letting robot manipulator to target related location in the real environment. In order to demonstrate hardware verification procedure, a mockup model with specific landmark points as tumor locations were utilized as surgical targets. As the brain biopsy operations are carried out in a closed environment with limited visual capabilities, acquired results promisingly point out the effectiveness of the mentioned integration.
DOI
https://doi.org/10.5038/BNBD2713
Integration of Surgical Navigation to a Spherical Parallel Manipulator Utilized for Robotic Brain Biopsy
By the help of technological advances, robotic systems supported by surgical navigation procedures are becoming an integral part of the medical field. Due to the fact that getting high quality visual feedback from target workspace is one of the most important factors affecting surgeons’ operation precision, current computer and imaging technologies in the medical field has started to focus on the possible ways of implementing virtual navigation methodologies to surgical robotics. Thus, surgical navigation systems have started to take place in many surgical operations in order to track surgical tools inside the operation volume. In light of this, current study tries to implement surgical navigation methodologies into a spherical manipulator that was previously designed by the same group for robotic brain biopsy operations. Throughout the study OptiTrack V100R2 motion capture cameras were utilized to track manipulator motions. Once the structural model of related robot manipulator was transferred to the virtual environment, least squares point based registration methodology was utilized in order to relate virtual and real workspaces together. At the end of the study, performance evaluation of the system was carried out by giving tumor locations from the virtual environment and letting robot manipulator to target related location in the real environment. In order to demonstrate hardware verification procedure, a mockup model with specific landmark points as tumor locations were utilized as surgical targets. As the brain biopsy operations are carried out in a closed environment with limited visual capabilities, acquired results promisingly point out the effectiveness of the mentioned integration.