Naslov
Workspace analysis of robotically assisted percutaneous radiofrequency thermocoagulation for the trigeminal neuralgia
(Workspace analysis of robotically assisted percutaneous radiofrequency thermocoagulation for the trigeminal neuralgia)

Autori
Švaco, Marko ; Kaštelančić, Anđelo ; Dlaka, Domagoj ; Šuligoj, Filip ; Marijić, Marko ; Chudy, Darko ; Jerbić, Bojan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
MIPRO 2021 : proceedings / Skala, Karolj - Rijeka : Hrvatska udruga za informacijsku i komunikacijsku tehnologiju, elektroniku i mikroelektroniku - MIPRO, 2021, 1191-1195

ISBN
978-953-233-101-1

Skup
44th International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO 2021)

Mjesto i datum
Opatija, Hrvatska, 27.09.2021. - 01.10.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
medical robotics ; trigeminal neuralgia ; neurosurgery ; simulation

Sažetak
Trigeminal neuralgia is a sharp and paroxysmal pain that spreads to one or more branches of the trigeminal nerve and most commonly affects one side of the face. Trigeminal neuralgia can be treated by percutaneous thermoablation (radiofrequency thermocoagulation), the success of which depends on the experience of the surgeon. Percutaneous thermoablation requires high accuracy while targeting the trigeminal nerve in the foramen ovale, which is located at the base of the skull, and whose dimensions average 4x6 mm. This paper presents an initial overview on the possibilities of the application of different off- the-shelf robots in the operative procedure for treating trigeminal neuralgia. The paper simulates the reachability and applicability of the Kuka KR6 Agilus R900, KR6 Agilus R1100 and the KUKA IIWA R820 robots with 6 and 7 degrees of freedom. The operating procedure is simulated in a virtual operating room and all critical positions are validated. Possibilities of positioning the robots with respect to the patient and the recommendations for designing tool guides for performing the percutaneous thermoablation for trigeminal neuralgia are given.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo, Strojarstvo, Interdisciplinarne tehničke znanosti

POVEZANOST RADA