University of Twente Student Theses


Robot-guided translation of a preoperative 3D planning during open-vault reconstruction of craniosynostosis

Pilon, A.J.M. and Koot, E.L. and Woude, R. van der and Venix, L.P.J. (2019) Robot-guided translation of a preoperative 3D planning during open-vault reconstruction of craniosynostosis.

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Abstract:Purpose: During open vault reconstruction of craniosynostosis an accurate method for the translation of a preoperatively three-dimensional (3D) planned cutting pattern is necessary. However, all current methods still have their shortcomings. This study investigates the possibility of using a six Degrees of Freedom robot for this translation. Method: The Adept Viper s850 was used to draw a 3D planned cutting pattern on a phantom of a patient with trigonocephaly. The coordinates of the cutting pattern were transformed into robot coordinates with the use of Matlab and a manual calibration. Yaw, pitch and roll were calculated for the pen to be oriented perpendicular to the surface of the phantom. The robot coordinates and yaw, pitch and roll were used to program the robot. An accuracy test was performed to examine the deviation between the pattern drawn by the robot and the 3D planned cutting pattern. Results: The robot was able to draw the cutting pattern in dotted lines within four and a half minutes, excluding a twenty-minute calibration. The accuracy test showed a mean deviation of 2,415 mm with a standard deviation of 0,718 mm. Discussion: The first results are promising. Nevertheless, several adjustments have to be made to realise clinical implementation. These include the development of new software, a more accurate calibration method and an extensive safety mechanism. These adjustments could reduce operating time and make the robot easier to program. Conclusion: The Adept Viper s850 was used to draw a preoperatively 3D planned cutting pattern on the phantom of a cranium with trigonocephaly. This shows a large potential for the clinical implementation of robots in open-vault reconstruction surgery for patients with craniosynostosis.
Item Type:Essay (Bachelor)
Faculty:TNW: Science and Technology
Subject:44 medicine
Programme:Technical Medicine BSc (50033)
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