Kinematic and Force Experiments on Cadavers for the Specification of a Tele-Operated Craniotomy Robot

International audienceThis paper presents a preliminary study for the characterization of Burr hole craniotomy procedures, in order to define the specifications for the design of a tele-operated craniotomy robot. Surgeon’s gestures are recorded through a motion capture system during the execution of several craniotomy tasks, allowing to characterize the drilling tool range movements. Moreover, a tele-operated platform is used to record the interaction forces produced between the drilling tool and the human skull during the procedure, obtaining an order of magnitude of the force feedback a dedicated tele-operated craniotomy system would need to provide during a craniotomy procedure