Development of a 6-axis Robotic Manipulator for Stereotactic Surgery

Abstract

The paper presents the results of development of a 6-axis robotic manipulator for stereotactic surgery. The robotic manipulator can be used for the surgical treatment of deep-located brain tumors, for the intracerebral implantation of electrodes for brain stimulation in patients with Parkinson Disease, for the treatment of epilepsy, etc. The experimental model of the low-cost robotic manipulator is described in details. Basic requirements for stereotactic robotic manipulator are as follows: workspace is not less than 0.4 m3, position accuracy is ± 0.5 mm, the ability to change the angle of the stereotactic instrument while the coordinates of its end point are the same, compatibility with the surgical navigation systems, and compliance with the requirements for medical equipment. The results of a phantom testing of the manipulator in the neurosurgery operation room using the surgical optical navigation system showed that it is possible to use this manipulator for all types of stereotactic surgery interventions on the brain.