Abstract
This paper presents the design of a mobile robotic computed tomography (CT) system for intraoperative use. In particular, this paper presents a novel gantry mechanism and a novel mechanism generating isocentric motions. The developed system mechanically consists of a gantry and a mobile robotic body. The gantry contains the X-ray modules and has an opening mechanism that enables full 360 ${^\circ }$ rotation. The robotic body is capable of one vertical and two isocentric rotational motions used to position the gantry. Unlike existing C-arms and mobile CT scanners, each isocentric motion is achieved using a single-DOF mechanism. With these robotic motions, the mobile robotic CT system can be used intraoperatively in both CT and fluoroscopic imaging modes. The mobile platform enables installation and removal of the device from a surgical bed. The performance of the proposed system was investigated using a laser tracking system. Experimental results show that no significant vibrations or position deviations of the X-ray modules were observed during the CT scanning motion.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.