JAYDEV P. DESAI,MINGYEN HO,J. MARC SIMARD,RAO GULLAPALLI
申请号：
US13763284
公开号：
US20130218005A1
申请日:
2013.02.08
申请国别(地区):
US
年份:
2013
代理人:
摘要：
Minimally invasive neurosurgical intracranial robot system is introduced to the operative site by a neurosurgeon through a narrow surgical corridor. The robot is passed through a cannula and is attached to the cannula by a latching mechanism. The robot has several links interconnected via revolute joints which are tendon-driven by tendons routed through channels formed in the walls of the links. The robot is teleoperatively guided by the neurosurgeon based on real-time images of the intracranial operative site and tracking information of the robot position. The robot body is equipped with a tracking system, tissue liquefacting end-effector, at as well as irrigation and suction tubes. Actuators for the tendon-driven mechanism are positioned at a distance from the imaging system to minimize distortion to the images. The tendon-actuated navigation of the robot permits an independent control of the revolute joints in the robot body.
