Craniotomy robot system based on human-machine parallel collaboration

摘要

Craniotomy is the first choice of treatment of brain tumors, cerebrovascular disease, brain injury and cerebral hemorrhage disease, but the craniotomy method is time-consuming and laborious, the structure of skull is complex and important nerve and blood vessels distribute. As a result, the risk of craniotomy is high, and the operation is highly dependent on surgeons' experience, which leads to high pressure and fatigue of the surgeon, reducing the effectiveness of subsequent surgery. According to the characteristics of high complexity and high risk of craniotomy, this paper puts forward a craniotomy robot system based on human-machine parallel collaboration, by combining human-machine collaborative parallel control, active constraint and force feedback technology, combined the high precision of robot system with surgeon's operating experience, to guarantee comfort, safety and precision of craniotomy.