Trajectory Planning for Tele-Robotic Skull Drill System

摘要

This paper first gives a brief literature review about relevant technology, including sate-of-the-art surgical robotics, state-of-the-art image-guided neurosurgery and applications, and internet-based robotics. The architecture of the proposed tele-robotic skull drill system is presented in the paper, including the client/server control architecture for the tele-robotic skull drill system, the mechanical interface between robotic arm and the skull drill, and control system for the tele-robotic skull drill system. Trajectory planning for this tele-robotic system is also given in the paper, including three phases, free motion position trajectory planning, free motion orientation trajectory planning, and position trajectory planning under constraints. Finally, the experiment is concluded in the paper.