title: System design of a hand-held mobile robot for craniotomy.
abstract: This contribution reports the development and initial testing of a Mobile Robot System for Surgical Craniotomy, the Craniostar. A kinematic system based on a unicycle robot is analysed to provide local positioning through two spiked wheels gripping directly onto a patients skull. A control system based on a shared control system between both the Surgeon and Robot is employed in a hand-held design that is tested initially on plastic phantom and swine skulls. Results indicate that the system has substantially lower risk than present robotically assisted craniotomies, and despite being a hand-held mobile robot, the Craniostar is still capable of sub-millimetre accuracy in tracking along a trajectory and thus achieving an accurate transfer of pre-surgical plan to the operating room procedure, without the large impact of current medical robots based on modified industrial robots.
authors.affiliation: Klinik und Poliklinik für Mund-, Kiefer, und Gesichtschirurgie, University of Heidelberg, Heidelberg, Germany.
authors.forename: Gavin
authors.initials: G
authors.lastname: Kane
authors.forename: Georg
authors.initials: G
authors.lastname: Eggers
authors.forename: Robert
authors.initials: R
authors.lastname: Boesecke
authors.forename: Jörg
authors.initials: J
authors.lastname: Raczkowsky
authors.forename: Heinz
authors.initials: H
authors.lastname: Wörn
authors.forename: Rüdiger
authors.initials: R
authors.lastname: Marmulla
authors.forename: Joachim
authors.initials: J
authors.lastname: Mühling
mesh_terms: D000818:Animals; D003399:Craniotomy / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D008328:Man-Machine Systems; D008904:Miniaturization; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D013552:Swine