Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data
This paper deals with a robotic manipulator dedicated to craniotomy with a remote center of motion based on a Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed to handle the drilling tool through the requested craniotomy Degrees of Freedom (DoF) with two rotations. The proposed...
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| Format: | Article |
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MDPI AG
2021-07-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/14/6534 |
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| author | Terence Essomba Juan Sandoval Med Amine Laribi Chieh-Tsai Wu Cyril Breque Saïd Zeghloul Jean-pierre Richer |
| author_facet | Terence Essomba Juan Sandoval Med Amine Laribi Chieh-Tsai Wu Cyril Breque Saïd Zeghloul Jean-pierre Richer |
| author_sort | Terence Essomba |
| collection | DOAJ |
| description | This paper deals with a robotic manipulator dedicated to craniotomy with a remote center of motion based on a Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed to handle the drilling tool through the requested craniotomy Degrees of Freedom (DoF) with two rotations. The proposed architecture allows one degree of redundancy according to the total DoF. Thus, a first contribution of this work focuses on the experimental analysis of craniotomy surgery tasks. Secondly, its behavior is improved, taking advantage of the redundancy of the SPM using the spinning motion as a reconfiguration variable. The spinning angle modulation allows the reconfigurable manipulator to minimize its motor torques. A series of motion capture and force experimentations is performed for the analysis of the kinematic and force interaction characterizing Burr hole craniotomy procedures. Experimentations were carried out by a neurosurgeon on a human cadaver, ensuring highly realistic conditions. |
| first_indexed | 2024-03-10T09:45:48Z |
| format | Article |
| id | doaj.art-39e29b2cab9d439e9c4b7e1fa72209b2 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T09:45:48Z |
| publishDate | 2021-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-39e29b2cab9d439e9c4b7e1fa72209b22023-11-22T03:11:19ZengMDPI AGApplied Sciences2076-34172021-07-011114653410.3390/app11146534Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental DataTerence Essomba0Juan Sandoval1Med Amine Laribi2Chieh-Tsai Wu3Cyril Breque4Saïd Zeghloul5Jean-pierre Richer6Department of Mechanical Engineering, National Central University, No. 300, Zhongda Road, Taoyuan County 32001, TaiwanDepartment of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, 86073 Poitiers, FranceDepartment of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, 86073 Poitiers, FranceDepartment of Neurosurgery, College of Medicine, Chang Gung University, Chang Gung Memorial Hospital, No. 5, Fuxing Street, Taoyuan 333, TaiwanDepartment of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, 86073 Poitiers, FranceDepartment of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, 86073 Poitiers, FranceSimulation Laboratory, Faculty of Medicine, University of Poitiers, 6 rue de la Miletrie, 86000 Poitiers, FranceThis paper deals with a robotic manipulator dedicated to craniotomy with a remote center of motion based on a Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed to handle the drilling tool through the requested craniotomy Degrees of Freedom (DoF) with two rotations. The proposed architecture allows one degree of redundancy according to the total DoF. Thus, a first contribution of this work focuses on the experimental analysis of craniotomy surgery tasks. Secondly, its behavior is improved, taking advantage of the redundancy of the SPM using the spinning motion as a reconfiguration variable. The spinning angle modulation allows the reconfigurable manipulator to minimize its motor torques. A series of motion capture and force experimentations is performed for the analysis of the kinematic and force interaction characterizing Burr hole craniotomy procedures. Experimentations were carried out by a neurosurgeon on a human cadaver, ensuring highly realistic conditions.https://www.mdpi.com/2076-3417/11/14/6534reconfigurable spherical parallel mechanismcraniotomymotion capturetorque minimization |
| spellingShingle | Terence Essomba Juan Sandoval Med Amine Laribi Chieh-Tsai Wu Cyril Breque Saïd Zeghloul Jean-pierre Richer Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data Applied Sciences reconfigurable spherical parallel mechanism craniotomy motion capture torque minimization |
| title | Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data |
| title_full | Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data |
| title_fullStr | Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data |
| title_full_unstemmed | Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data |
| title_short | Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data |
| title_sort | torque reduction of a reconfigurable spherical parallel mechanism based on craniotomy experimental data |
| topic | reconfigurable spherical parallel mechanism craniotomy motion capture torque minimization |
| url | https://www.mdpi.com/2076-3417/11/14/6534 |
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