COMPARATIVE STUDY ON KINEMATIC CHARACTERISTICS OF THREE MICRO-SURGICAL MECHANISMS FOR NEUROSURGICAL OPERATIONS

S. M. Kim, J. Cheong, B. J. Yi, W. K. Kim

Abstract

Most of commercialized micro surgical robot modules are built based on the typical 6-UPS Gough-Stewart Platform (GSP) structure. However, they may be overqualified in neurosurgical operations in aspects of workspace size, the number of motion Degree-Of-Freedoms (DOFs), and their costs. Thus, this paper suggests two different parallel mechanisms (PMs), which are a 3-UPS + PPPS type PM and a 2-UPS + PPPU type PM, as candidates for micro neurosurgical robot modules. Through a comparative study of two suggested PMs and the GSP PM in aspects of various factors such as kinematic isotropy characteristics, the workspace size required in neurosurgical operations, commercial linear actuator stroke limitations, etc., it is shown that the 2-UPS+PPPU type PMs is superior to the other two structures.

Keywords

neurosurgical robot, parallel mechanism, stereotactic surgery, micro robot

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IMEKO-WC-2012-TC17-O3.pdf

DOI

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IMEKO TC

TC17 - Measurement in Robotics

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