Comparison of the Effectiveness of Two Types of Single Port Minimal Invasive Neurosurgical Robots to Ablation and Resection of Brain Tumor

Background:Using minimally invasive neurosurgical robots is one of the most desirable ablation methods and resection of brain tumors. In this study, forward kinematics and Jacobian matrix calculated for two single-port robots for comparing the effectiveness of two types of single port minimal invasi...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Sahar Delasaei Marvi, Arash Sherafati, Majid Mohammad Tahery, Samir Zein
Formato:	article
Lenguaje:	EN
Publicado:	Shahid Beheshti University of Medical Sciences 2020
Materias:	surgical robot ablation of the tumor force resection of tumor brain tumor Medicine R
Acceso en línea:	https://doaj.org/article/e75d7f693dd1471da33d38a6b26983ba
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:e75d7f693dd1471da33d38a6b26983ba
record_format	dspace
spelling	oai:doaj.org-article:e75d7f693dd1471da33d38a6b26983ba2021-11-16T11:06:27ZComparison of the Effectiveness of Two Types of Single Port Minimal Invasive Neurosurgical Robots to Ablation and Resection of Brain Tumor2383-18712383-209610.34172/icnj.2020.26https://doaj.org/article/e75d7f693dd1471da33d38a6b26983ba2020-10-01T00:00:00Zhttps://journals.sbmu.ac.ir/neuroscience/article/view/31420/25815https://doaj.org/toc/2383-1871https://doaj.org/toc/2383-2096Background:Using minimally invasive neurosurgical robots is one of the most desirable ablation methods and resection of brain tumors. In this study, forward kinematics and Jacobian matrix calculated for two single-port robots for comparing the effectiveness of two types of single port minimal invasive surgical robots to ablation and resection of brain tumor Methods: The motion analysis of robots type 1 and 2 has compared to each other. Ablation manipulator in robot type 1 has five degrees of freedom, but in robot type 2, three revolute degrees of freedom of this manipulator has replaced with a revolute joint perpendicular to the previous three revolute joints. Results: Results showed that for resection surgery, in the same conditions, robot type 2 damaged 58.9 mm3 more of cerebral cortex tissue than robot type 1 to resect the brain tumors. To establish a static balance, robot type 2 needs to tolerate at least 41% more internal loading than robot type 1. The maximum velocity for robot type 1 in the contact location between the end-effector and the tumor is 1.7 times more than robot type 2. The maximum end-effector force of robot type 1 to apply the tumor for ablation surgery is more than 1.8 times in robot type 2, but the maximum moment and power for ablation surgery and resection of these two robots were the same less than 1% difference. Conclusion: Despite the more straightforward mechanism, a minimum number of joints, and better kinematics range of robot type 2, robot types 1 has the possibility for transformation, establishes the static balancing, and does a better ablation surgery with less damage to the brain.Sahar Delasaei MarviArash SherafatiMajid Mohammad TaherySamir ZeinShahid Beheshti University of Medical Sciencesarticlesurgical robotablation of the tumorforceresection of tumorbrain tumorMedicineRENInternational Clinical Neuroscience Journal, Vol 7, Iss 4, Pp 201-207 (2020)
institution	DOAJ
collection	DOAJ
language	EN
topic	surgical robot ablation of the tumor force resection of tumor brain tumor Medicine R
spellingShingle	surgical robot ablation of the tumor force resection of tumor brain tumor Medicine R Sahar Delasaei Marvi Arash Sherafati Majid Mohammad Tahery Samir Zein Comparison of the Effectiveness of Two Types of Single Port Minimal Invasive Neurosurgical Robots to Ablation and Resection of Brain Tumor
description	Background:Using minimally invasive neurosurgical robots is one of the most desirable ablation methods and resection of brain tumors. In this study, forward kinematics and Jacobian matrix calculated for two single-port robots for comparing the effectiveness of two types of single port minimal invasive surgical robots to ablation and resection of brain tumor Methods: The motion analysis of robots type 1 and 2 has compared to each other. Ablation manipulator in robot type 1 has five degrees of freedom, but in robot type 2, three revolute degrees of freedom of this manipulator has replaced with a revolute joint perpendicular to the previous three revolute joints. Results: Results showed that for resection surgery, in the same conditions, robot type 2 damaged 58.9 mm3 more of cerebral cortex tissue than robot type 1 to resect the brain tumors. To establish a static balance, robot type 2 needs to tolerate at least 41% more internal loading than robot type 1. The maximum velocity for robot type 1 in the contact location between the end-effector and the tumor is 1.7 times more than robot type 2. The maximum end-effector force of robot type 1 to apply the tumor for ablation surgery is more than 1.8 times in robot type 2, but the maximum moment and power for ablation surgery and resection of these two robots were the same less than 1% difference. Conclusion: Despite the more straightforward mechanism, a minimum number of joints, and better kinematics range of robot type 2, robot types 1 has the possibility for transformation, establishes the static balancing, and does a better ablation surgery with less damage to the brain.
format	article
author	Sahar Delasaei Marvi Arash Sherafati Majid Mohammad Tahery Samir Zein
author_facet	Sahar Delasaei Marvi Arash Sherafati Majid Mohammad Tahery Samir Zein
author_sort	Sahar Delasaei Marvi
title	Comparison of the Effectiveness of Two Types of Single Port Minimal Invasive Neurosurgical Robots to Ablation and Resection of Brain Tumor
title_short	Comparison of the Effectiveness of Two Types of Single Port Minimal Invasive Neurosurgical Robots to Ablation and Resection of Brain Tumor
title_full	Comparison of the Effectiveness of Two Types of Single Port Minimal Invasive Neurosurgical Robots to Ablation and Resection of Brain Tumor
title_fullStr	Comparison of the Effectiveness of Two Types of Single Port Minimal Invasive Neurosurgical Robots to Ablation and Resection of Brain Tumor
title_full_unstemmed	Comparison of the Effectiveness of Two Types of Single Port Minimal Invasive Neurosurgical Robots to Ablation and Resection of Brain Tumor
title_sort	comparison of the effectiveness of two types of single port minimal invasive neurosurgical robots to ablation and resection of brain tumor
publisher	Shahid Beheshti University of Medical Sciences
publishDate	2020
url	https://doaj.org/article/e75d7f693dd1471da33d38a6b26983ba
work_keys_str_mv	AT sahardelasaeimarvi comparisonoftheeffectivenessoftwotypesofsingleportminimalinvasiveneurosurgicalrobotstoablationandresectionofbraintumor AT arashsherafati comparisonoftheeffectivenessoftwotypesofsingleportminimalinvasiveneurosurgicalrobotstoablationandresectionofbraintumor AT majidmohammadtahery comparisonoftheeffectivenessoftwotypesofsingleportminimalinvasiveneurosurgicalrobotstoablationandresectionofbraintumor AT samirzein comparisonoftheeffectivenessoftwotypesofsingleportminimalinvasiveneurosurgicalrobotstoablationandresectionofbraintumor
_version_	1718426578156781568

Comparison of the Effectiveness of Two Types of Single Port Minimal Invasive Neurosurgical Robots to Ablation and Resection of Brain Tumor

Ejemplares similares