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Mechanical concept of the neurosurgical robot ‘Minerva’

Published online by Cambridge University Press:  09 March 2009

D. Glauser ,
P. Flury  and
C. W. Burckhardt
D. Glauser
Affiliation:
Institut de Microtechnique, Ecole Polytechnique Fédérate de Lausanne, 1015 Lausanne (Switzerland)
P. Flury
Affiliation:
Institut de Microtechnique, Ecole Polytechnique Fédérate de Lausanne, 1015 Lausanne (Switzerland)
C. W. Burckhardt
Affiliation:
Institut de Microtechnique, Ecole Polytechnique Fédérate de Lausanne, 1015 Lausanne (Switzerland)
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Extract

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.

Type
Research Article
Information
Robotica , Volume 11 , Issue 6 , November 1993 , pp. 567 - 575
Copyright
Copyright © Cambridge University Press 1993

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References

1.Wilkins, R.H. and Rengachary, S.S., Neurosurgery (McGraw-Hill, New York, 1985).Google Scholar
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3.Glauser, D. et al. , “Conception of a robot dedicated to neurosurgery” Proc. ICAR ‘91 Conf.,Pisa(1991) pp. 899–904.Google Scholar
4.Flury, P. et al. , “Minerva, a robot dedicated to neurosurgery operations” Proc. 23rd ISIR, Oct. 1992,Barcelona(1992) pp. 729–733.Google Scholar
5.Villotte, N. et al. , “Conception of stereotactic instruments for the neurosurgical robot Minerva” Proc. 14th Annual Conf. of IEEE Engineering in Medicine and Biology Soc., Nov. 1992,Paris(1992) pp. 1089–1090.Google Scholar