High precision of compactrio hardware platform con

2022-08-26
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Compactrio hardware platform controlled high-precision robot equipment for brain tumor surgery

challenge: create a high-precision monitoring and control system, which can safely move robots in minimally invasive neurosurgery

solution: use Ni compactrio platform to develop a safe, more reasonable, more flexible and more reliable high-performance robot control system

"due to compactrio hardware platform and its flexible programming environment, the current solution will have a negative impact on the overall marine environment. The solution is more reasonable, reliable and efficient than the original prototype design."

robot equipment has been used in the medical industry for more than 40 years. At present, researchers are still continuously committed to developing more effective and safe medical robots. Some workstations can only be operated by robots due to poor environment. Compared with these industrial robots, medical robots must work in direct contact with patients and medical personnel. Therefore, the safety requirements of robots used in the medical field are more complex and strict than those in the industrial field

this challenge is particularly obvious for Neurosurgery - because in surgery, extremely high accuracy is required to locate surgical tools. Robots can achieve higher accuracy and repeatability than the most experienced neurosurgeons. However, they cannot make timely and independent response to dangers and emergencies

neurosurgery tactile equipment

because surgeons cannot entrust the whole operation process to a robot, the best robot solution is realized by the master/slave working mode. The surgeon assigns an action to the robot device, and then the robot moves the surgical instrument for precise positioning

because of this master/slave working mode, surgeons cannot directly contact the instrument. They maintain a certain degree of connection with the surgical operation process through special sensors that can reproduce all the unique feelings in the artificial operation. These sensors, called tactile devices, can reproduce a sense of strength on the command device. This solution greatly improves the working safety of the robot, because all the actions of the robot are reasonably controlled by the surgeon

mechatronics has been working together with medical robots and tactile master/slave robot systems for more than 10 years. It also takes on the challenge of developing application control systems for minimally invasive neurosurgery robots. In this application, the surgical tool is a special device for the treatment of tumor lesions, which is called the photon radiosurgery system - Zeiss (PRS)

The PRS system is a low-energy X-ray micro source that emits radiation from the probe head inserted into the skull cavity. PRS allows surgeons to limit the amount of radiation to tumor lesions, so as to avoid the radiation line from contacting normal and good areas of brain tissue. This treatment is minimally invasive because the probe passes through a hole only 3 to 7 mm in diameter. Minimally invasive treatment has great advantages in terms of brain injury and late surgical recovery

previously, surgeons had to manually control the PRS system by positioning equipment on a metal structure called a stereotactic helmet (see Figure 1). The transmitting probe passes through the skull cavity through the rack drive. The metal structure is used as a three-dimensional reference for positioning neurosurgical instruments. However, some frequently used experimental skills still need to be mastered by us. Manual control cannot provide high positioning accuracy, and its efficacy is limited to rare spherical tumors in the application of PRs system

linear actuators (LANs) for neurosurgery

we will focus on extending the application of PRs system to patients with more common elliptical tumor lesions. The radiation amount must be distributed along the axis of the tumor lesion, so that the spherical range of radiation can cover the whole tumor lesion area. Because the execution of this action requires a certain degree of accuracy, a robot system is required. Therefore, we developed linear actuators (LANs) for neurosurgery

neurosurgery linear driver is a robot device used to move PRS micro sources in a linear manner during tactile master/slave operations. The researchers used a commercial robot neuromate from Britain as the space locator of LANs. This makes the axis of the micro source move along the axis of the tumor lesion during the progress of the surgery (as shown in Figure 2). The surgeon determines the movement of the probe in the skull cavity

using neurosurgery linear drivers, surgeons can feel the interaction between the probe and brain tissue and respond accordingly. In addition, in order to improve the positioning accuracy in the surgical operation process, an appropriate virtual environment can guide the surgeon at each stage of the surgical operation process

compactrio hardware platform for automatic robot control

the control system of the whole tactile master/slave robot system needs higher robustness and reliability in the management of surgery. The first prototype design is created with several self-made control devices to ensure control redundancy and necessary safety conditions. However, the prototype design has certain limitations - large volume, lack of portability, and requires a lot of time to program the control and supervision module

we use compactrio system and compactrio i/o module to solve these problems. We use compactrio to create a controller to manage the master/slave system of 1 kHz control loop in real time. The redundant control system includes two field programmable gate array (FPGA) applications, which are used to monitor and supervise the whole surgical operation process, and will intervene when the system detects an emergency

due to compactrio hardware platform and its flexible programming environment, this solution is simpler than the original prototype design, and more reliable and efficient in (1) tensile strength (maximum tensile stress). At present, the new system is being optimized, and researchers will start preclinical trials in the near future

author information:

v. zanotto

diegm - Universit à di udine

va higher test effectiveness notto@ (end)

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