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Alternative Solution for a Robotic Stereotactic System

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Abstract

The development of robotic technology applications in the stereotactic neurosurgical method has reached the stage of high acceptation, which is the driving force for searching for other solutions. The article describes an alternative robotic system solution for stereotaxis and compares it with other known solutions. It is characterised by a minimal number of the controlled robot axes, while preserving required articulation possibilities. Since it is a non-traditional robotic architecture, the article outlines its kinematic analysis with the specification of transformation matrices for an inversion problem. At the same time, outputs from the robot computer animation, which is an indispensable aid in the development of kinematic mechanisms, are presented.

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Authors and Affiliations

  1. The Faculty of Production Technology, Technical University in Košice, Prešov, Slovakia

    V. Modrák, J. Paško & S. Pavlenko

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  1. V. Modrák
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  2. J. Paško
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  3. S. Pavlenko
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Modrák, V., Paško, J. & Pavlenko, S. Alternative Solution for a Robotic Stereotactic System. Journal of Intelligent and Robotic Systems 35, 193–202 (2002). https://doi.org/10.1023/A:1021197828796

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  • DOI: https://doi.org/10.1023/A:1021197828796

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