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(a) Front view of the Craniobot which consists of a three-axis CNC mill, a custom built stereotax, and a high-speed spindle. Scale bar, 5 cm. (b) Back view of the Craniobot showing three stepper motors and control electronics including a motor controller, a <t>microcontroller,</t> and a switching circuit. Scale bar, 5 cm. (c) Photographs of the custom built stereotax. Detailed step-by-step instructions on assembling the CNC mill and adapting it for automated surgeries is shown in Supplementary Figure 1. Scale bars in c and bottom inset, 5 cm and 1 cm, respectively. (d) Photograph and computer-aided design (CAD) schematic of the custom-built surface profiler indicating the key parts. Scale bar, 10 mm. Detailed step-by-step instructions on assembling the surface profiler is shown in Supplementary Figure 2.
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(a) Front view of the Craniobot which consists of a three-axis CNC mill, a custom built stereotax, and a high-speed spindle. Scale bar, 5 cm. (b) Back view of the Craniobot showing three stepper motors and control electronics including a motor controller, a <t>microcontroller,</t> and a switching circuit. Scale bar, 5 cm. (c) Photographs of the custom built stereotax. Detailed step-by-step instructions on assembling the CNC mill and adapting it for automated surgeries is shown in Supplementary Figure 1. Scale bars in c and bottom inset, 5 cm and 1 cm, respectively. (d) Photograph and computer-aided design (CAD) schematic of the custom-built surface profiler indicating the key parts. Scale bar, 10 mm. Detailed step-by-step instructions on assembling the surface profiler is shown in Supplementary Figure 2.
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(a) Front view of the Craniobot which consists of a three-axis CNC mill, a custom built stereotax, and a high-speed spindle. Scale bar, 5 cm. (b) Back view of the Craniobot showing three stepper motors and control electronics including a motor controller, a <t>microcontroller,</t> and a switching circuit. Scale bar, 5 cm. (c) Photographs of the custom built stereotax. Detailed step-by-step instructions on assembling the CNC mill and adapting it for automated surgeries is shown in Supplementary Figure 1. Scale bars in c and bottom inset, 5 cm and 1 cm, respectively. (d) Photograph and computer-aided design (CAD) schematic of the custom-built surface profiler indicating the key parts. Scale bar, 10 mm. Detailed step-by-step instructions on assembling the surface profiler is shown in Supplementary Figure 2.
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(a) Front view of the Craniobot which consists of a three-axis CNC mill, a custom built stereotax, and a high-speed spindle. Scale bar, 5 cm. (b) Back view of the Craniobot showing three stepper motors and control electronics including a motor controller, a microcontroller, and a switching circuit. Scale bar, 5 cm. (c) Photographs of the custom built stereotax. Detailed step-by-step instructions on assembling the CNC mill and adapting it for automated surgeries is shown in Supplementary Figure 1. Scale bars in c and bottom inset, 5 cm and 1 cm, respectively. (d) Photograph and computer-aided design (CAD) schematic of the custom-built surface profiler indicating the key parts. Scale bar, 10 mm. Detailed step-by-step instructions on assembling the surface profiler is shown in Supplementary Figure 2.

Journal: Nature protocols

Article Title: Assembly and operation of an open-source, computer numerical controlled (CNC) robot for performing cranial microsurgical procedures

doi: 10.1038/s41596-020-0318-4

Figure Lengend Snippet: (a) Front view of the Craniobot which consists of a three-axis CNC mill, a custom built stereotax, and a high-speed spindle. Scale bar, 5 cm. (b) Back view of the Craniobot showing three stepper motors and control electronics including a motor controller, a microcontroller, and a switching circuit. Scale bar, 5 cm. (c) Photographs of the custom built stereotax. Detailed step-by-step instructions on assembling the CNC mill and adapting it for automated surgeries is shown in Supplementary Figure 1. Scale bars in c and bottom inset, 5 cm and 1 cm, respectively. (d) Photograph and computer-aided design (CAD) schematic of the custom-built surface profiler indicating the key parts. Scale bar, 10 mm. Detailed step-by-step instructions on assembling the surface profiler is shown in Supplementary Figure 2.

Article Snippet: Microcontroller (Arduino Due, Adafruit Inc.).

Techniques: Control

DC power supplies provide power to the CNC mill and the high-speed spindle. An open-source motor controller is used to drive the stepper motors in the x, y, and z directions. It connects to the computer via universal serial bus (USB) interface. Four limit switches, two each for the x and y axes to ensure the motors do not exceed the maximum travel range, are connected to the limit switch input terminals in the motor controller. One of the limit switch circuits in the z-direction is connected to an emergency stop button, and the other limit switch circuit is connected to the surface profiler via a switching circuit. A microcontroller is used to connect the surface profiler to the motor controller via the switching circuit.

Journal: Nature protocols

Article Title: Assembly and operation of an open-source, computer numerical controlled (CNC) robot for performing cranial microsurgical procedures

doi: 10.1038/s41596-020-0318-4

Figure Lengend Snippet: DC power supplies provide power to the CNC mill and the high-speed spindle. An open-source motor controller is used to drive the stepper motors in the x, y, and z directions. It connects to the computer via universal serial bus (USB) interface. Four limit switches, two each for the x and y axes to ensure the motors do not exceed the maximum travel range, are connected to the limit switch input terminals in the motor controller. One of the limit switch circuits in the z-direction is connected to an emergency stop button, and the other limit switch circuit is connected to the surface profiler via a switching circuit. A microcontroller is used to connect the surface profiler to the motor controller via the switching circuit.

Article Snippet: Microcontroller (Arduino Due, Adafruit Inc.).

Techniques: