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Chapitre D'ouvrage Année : 2020

Kinematic and Force Experiments on Cadavers for the Specification of a Tele-Operated Craniotomy Robot

Résumé

This paper presents a preliminary study for the characterization of Burr hole craniotomy procedures, in order to define the specifications for the design of a tele-operated craniotomy robot. Surgeon’s gestures are recorded through a motion capture system during the execution of several craniotomy tasks, allowing to characterize the drilling tool range movements. Moreover, a tele-operated platform is used to record the interaction forces produced between the drilling tool and the human skull during the procedure, obtaining an order of magnitude of the force feedback a dedicated tele-operated craniotomy system would need to provide during a craniotomy procedure.
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Dates et versions

hal-02344482 , version 1 (04-11-2019)

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Terence Essomba, Juan Sébastian Sandoval Arevalo, Med Amine Laribi, Chieh-Tsai Wu, Cyril Brèque, et al.. Kinematic and Force Experiments on Cadavers for the Specification of a Tele-Operated Craniotomy Robot. Advances in Service and Industrial Robotics, pp.447-454, 2020, ⟨10.1007/978-3-030-19648-6_51⟩. ⟨hal-02344482⟩
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