Brain tumors are among the most feared complications of cancer and their treatment is challenging due to the lack of good continuous imaging modality during the procedure and the inability to remove the complete tumor due to obstructions. A highly dexterous, small cross-section robot is being developed to overcome these limitations. The robot is being designed to remove the tumor which is outside the direct “line-of-sight” of the physician. In this paper, we report the design of a Minimally Invasive Neurosurgical Intracranial Robot (MINIR) using a tendon-driven mechanism. In the current prototype presented in this paper, the actuators for actuating the robot are not MRI compatible. The primary goal of this paper is to evaluate the performance of the robot motion and not the MRI compatibility of the entire system. The robot contains four links and four revolute joints. Pulleys and cables are put inside the robot to make the robot compact. The four revolute joints are placed orthogonally to have out-of-plane motion capability and can be controlled independently.
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ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5476-1
PROCEEDINGS PAPER
Towards the Development of a Tendon-Driven Neurosurgical Robot Available to Purchase
Mingyen Ho,
Mingyen Ho
University of Maryland, College Park, MD
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Jaydev P. Desai
Jaydev P. Desai
University of Maryland, College Park, MD
Search for other works by this author on:
Mingyen Ho
University of Maryland, College Park, MD
Jaydev P. Desai
University of Maryland, College Park, MD
Paper No:
DSCC2011-6075, pp. 795-797; 3 pages
Published Online:
May 5, 2012
Citation
Ho, M, & Desai, JP. "Towards the Development of a Tendon-Driven Neurosurgical Robot." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 795-797. ASME. https://doi.org/10.1115/DSCC2011-6075
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