Robot surgery based on the physical properties of the brain-physical brain model for planning and navigation of a surgical robot

Aiko Yoshizawa, Jun Okamoto, Hiroshi Yamakawa, Masakatsu G. Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    13 Citations (Scopus)

    Abstract

    This paper proposes the planning and navigation of a surgical robot to perform safe and effective operations using finite element analysis results based on physical models of the brain. The physical brain models were proposed based on the results of physical property tests. Finite element analyses of virtual tension tests were carried out under the same conditions as the actual tension tests, and the results of the analysis coincided with those of the test. The finite element analyses of robotic brain surgery were carried out using a two-dimensional structure, which consisted of the proposed physical models. Assuming two types of robot models are used (the brain spatula and capsule type robot respectively), stress distribution in the brain, caused by each robot model, was simulated in the analyses. The preoperative planning was considered based on the analysis results, and the safe velocity of the robot's movement was estimated from the same. The results of this research showed that organ modeling was necessary for preoperative planning in order to implement safe surgery.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages904-911
    Number of pages8
    Volume2005
    DOIs
    Publication statusPublished - 2005
    Event2005 IEEE International Conference on Robotics and Automation - Barcelona
    Duration: 2005 Apr 182005 Apr 22

    Other

    Other2005 IEEE International Conference on Robotics and Automation
    CityBarcelona
    Period05/4/1805/4/22

    Keywords

    • Finite element method
    • Navigation system
    • Physical brain model
    • Surgical robot

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

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  • Cite this

    Yoshizawa, A., Okamoto, J., Yamakawa, H., & Fujie, M. G. (2005). Robot surgery based on the physical properties of the brain-physical brain model for planning and navigation of a surgical robot. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 904-911). [1570232] https://doi.org/10.1109/ROBOT.2005.1570232