Development of a New Microsurgical Robot for Stereotactic Neurosurgery

Abstract

The robot technology was introduced into a new stereotactic neurosurgery system for applications to biopsy, blind surgery, and functional neurosurgery. The authors have developed a newly designed prototype microsurgical robot, designed to allow a biopsy needle to reach the target such as a cerebral tumor within a brain automatically on the basis of the X, Y, and Z coordinates obtained by CT scanner. This robot is so small that it can be driven in a CT scanner gantry. It consists mainly of the link mechanism and the insertion mechanism. We constructed the link mechanism and investigated its working space.

Nonholonomic Modeling of Needle Steering

“…Stoianovici et al (2001) developed a chain-drive RCM robot that has been used for a variety of surgical procedures in conjunction with a radiolucent needle driver for percutaneous access. Many other researchers have also used robots for needle placement, including: Koyama et al (1990); Masamune et al (1995Masamune et al ( , 2001; Kaiser et al (2000); Cleary et al (2001); Yanof et al (2001); Blasko et al (2002).…”

MRI of the prostate: potential role of robots

“…To date, most robot-assisted needle insertion systems aim to increase targeting accuracy through careful alignment of a rigid needle prior to insertion into tissue [12][13][14][15][16][17][18][19][20][21][22][23]. Two strategies have been developed to facilitate flexible needle steering within tissue.…”

Experimental assessment of a new mechanical endoscopic solosurgery system: Endofreeze

“…Currently, different tasks are performed with the help of mechanical or robotic devices not only in general surgery but also in several other surgical disciplines, such as cardiac surgery, orthopedics, neurosurgery, gynecology, and urology [2,4,[7][8][9]13].…”