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

*この研究の対応する著者

    研究成果: Conference contribution

    13 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
    ページ904-911
    ページ数8
    2005
    DOI
    出版ステータスPublished - 2005
    イベント2005 IEEE International Conference on Robotics and Automation - Barcelona
    継続期間: 2005 4 182005 4 22

    Other

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

    ASJC Scopus subject areas

    • ソフトウェア
    • 制御およびシステム工学

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