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Conception, modélisation et planification de mouvements d'un robot de résection pour la neurochirurgie

Abstract : Since the beginning of surgical robotics, surgical robots continue to find their place in clinical routine. They improve the quality and safety of operations, and comfort for the surgeon. This work addresses the design, modeling and path planning of a robotic system for brain tumor resection. The characterization of the surgical task (adaptability to the high diversity of tumor shapes, limited and evolving workspace) points out the requirements for the robot design and resection path planning. A modular robot with seven degrees of freedom is selected (high dexterity) and is actuated by wires. A kinematic (geometric) model is built.Motion planning of the redundant robot in evolving and path depending workspace is based on an interactive path planning. The method uncouples the degrees of freedom and defines elementary procedures, which are assembled in an arbitrary sequence by the neurosurgeon.A discretization method allows computing the procedure space that presents the possible locations, orientations and sizes of resected areas with respect to the robot limitations to bound procedure choices. A simulation on a real tumor case reveals that the chosen robotic concept associated to the interactive motion planning method allows removing the tumor for the most part. A demonstrator is realized and will provide opportunities for experiments in simulated conditions.
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  • HAL Id : tel-00625531, version 1

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Carole Martin. Conception, modélisation et planification de mouvements d'un robot de résection pour la neurochirurgie. Autre. Université Blaise Pascal - Clermont-Ferrand II, 2010. Français. ⟨NNT : 2010CLF22063⟩. ⟨tel-00625531⟩

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