A manually actuated continuum robot research platform for deployable shape-memory curved cannulae in stereotactic neurosurgery
Konferenz: ACTUATOR 2022 - International Conference and Exhibition on New Actuator Systems and Applications
29.06.2022 - 30.06.2022 in Mannheim
Tagungsband: GMM-Fb. 101: ACTUATOR 2022
Seiten: 4Sprache: EnglischTyp: PDF
Autoren:
Muehlenhoff, Julian; Koerbner, Thorben; Sattel, Thomas (Mechatronics Group, Technische Universität Ilmenau, Ilmenau, Germany)
Miccoli, Giovanni; Keiner, Doerthe; Urbschat, Steffi; Oertel, Joachim (Department of Neurosurgery, Saarland University Medical Center and Saarland University Faculty of Medicine, Homburg, Germany)
Hoffmann, Matthias K.; Flasskamp, Kathrin (Systems Modeling and Simulation, Saarland University, Saarbrücken, Germany)
Sauerteig, Philipp; Worthmann, Karl (Optimization-based Control Group, Technische Universität Ilmenau, Ilmenau, Germany)
Inhalt:
In this paper, a research platform for concentric tube continuum robots is developed in order to enable advances in deploying curved cannulae for stereotactic neurosurgery. The system consists of a manually operated high-precision actuation apparatus and a photogrammetric system with measurement errors in the range of 100 µm. With this platform, previously planned curved paths can be analyzed ex-situ w.r.t., e.g., target precision, follow-the-leader-behavior, and hysteretic phenomena. Regarding research towards an in-vivo application in human brains, first tests with porcine brain cadavers inside an intraoperative CT are conducted in order to pave the way for histological as well as target reachability studies.