Development of robotic stereotactic frame for application in neurosurgery

Ovim radom prikazan je razvoj robotiziranog stereotaktičkog okvira za primjenu u neurokirurgiji. Razvoj medicinske tehnologije usmjeren je ka većoj točnosti izvođenja zahvata, manjoj traumi pacijenta, bržem oporavaku te boljim ukupnim kliničkim rezultatima. Robotika i razvoj računarskih znanosti postavljeni su kao logičan odgovor na pitanje unapređenja medicinskih zahvata. Početak razvoja sustava započeo je analizom standardne medicinske opreme za stereotaktičku neurokirurgiju, točnije Leksellovog stereotaktičkog uređaja. U radu je prikazan razvoj koncepta robotiziranog stereotaktičkog uređaja, oblikovanje robotiziranog stereotaktičkog okvira te je provedena analiza razvijenog sustava. Sadržaj diplomskog rada može se podijeliti u nekoliko cjelina. Prvu cjelinu možemo promatrati kao uvođenje u područje robotike i neurokirurgije. Prikazan je razvoj tehnologije u medicini i primjer trenutačnih dosega u razvoju neurokirurških robotskih sustava. Druga cjelina je razvoj koncepta stereotaktičkog uređaja za primjenu u neurokirurgiji. Prikazana je kinematska struktura robota i nekoliko kinematskih koncepta uređaja. Proces koncipiranja završava vrednovanjem i odabirom optimalnog rješenja za konstrukcijsku razradu. Za odabrani koncept potrebno je razviti robotizirani stereotaktički okvir koji predstavlja novu cjelinu diplomskog rada. Konstruiranje robotiziranog stereotaktičkog okvira predstavlja cjelinu u kojoj su odabrane izvedbe pojedinih osi te provedeni proračuni elemenata. Nakon odabranih kombinacija elemenata pogona osi robota slijedila je faza skiciranja i razrade sustava. Za odabrane elemente i princip rada oblikovan je sustav za koji je priložen opis . Nakon oblikovanja sustava slijedila je faza analize točnosti pozicioniranja, prikaza karakteristika enkodera, te opisa sigurnosnih karakteristika sustava. Zadnja cjelina je zaključak u kojemu su opisani doprinosi ovog rada i nabrojeni daljnji smjerovi razvoja sustava.This thesis presents the development of a robotic stereotactic frame intended for application in neurosurgery. The development of the medical technology focuses on improving accuracy of neurosurgical procedures, decreasing negative patient experience, faster recovery and better overall clinical outcomes. Robotics and the development of the computer sciences represent a logical solution to the issues regarding the improvement in the performance of medical procedures. The analysis of the standard medical equipment applied in stereotactic neurosurgery marks the beginning of the development of the system, more precisely of the Leksell stereotactic system. The paper describes the development of the concept of a robotic stereotactic device, the design of robotic stereotactic framework and provides an analysis of the developed system. The content of the diploma thesis can be divided up into several parts. The first part offers an introduction into the field of robotics and neurosurgery. It describes the technology development in medicine and presents the current scope in the development of neurosurgical robotic systems. The second part of the thesis presents the development of the concept of stereotactic device intended for the application in neurosurgery. It describes the kinematic robot structure and several kinematic device concepts. The drafting process ends with an evaluation and selection of the optimal solution for the constructional elaboration. Then it was necessary to develop a robotic stereotactic frame for the selected concept which is discussed in the next part of this thesis. Design of the robotic stereotactic frame is a part of the thesis which presents the axis configurations that were selected and element calculations that were performed. Upon selecting the right combinations of the elements to drive the robot axes, the next phase included the system drafting and elaboration. A system was developed for the selected elements as well as its working principle, description of which is enclosed with the thesis. In the next stage the accuracy of the positioning is analysed, the characteristics of the encoder are presented and the security factors described. The final part of the thesis represents the conclusion which describes the contributions of the paper and suggests further possibilities for the system development