Portable stereospecofic apparatus based on modular concept

WANG Dong1, CAO Tong1, LIU Long1, CAO Xudong1, LIU Shuai2

(1.School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China;

2.Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100191, China)

Abstract: Aiming at the less developed areas to be provided for the minimally invasive stereotactic brain surgery, a kind of stereotactic instrument which was convenient to be carried out for longdistance medical aid was designed according to the principle of the robot. Structure types of robot were analysised, the relationship between the structure and the whole machine performance was established, and the overall design scheme based on the hydraulic locking, joint structure was presented. The clamping base, joint structure, guide, external injection system and brake locking system of the stereotactic apparatus were respectively designed with the modular concept, and the stereotactic instrument which was in agile movement and could be fixed in any position in the work space was obtained. The convenient calibration was used for debugging, and the final positioning accuracy was less than 2mm, and the stereotactic instrument was used for brain clinical surgery successfully. The performance was analyzed theoretically, and the relevant experiments and clinical applications were done, the results indicate that the stereotactic instrument has flexible movement, reliable locking performance and the positioning precision is less than 2mm, which has reached the requirement of clinical application, and has the high use value.

Key words: portable; stereospecofic; modular; accuracy; clinical surgery