Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models

Morita, Akio; Sora, Shigeo; Mitsuishi, Mamoru; Warisawa, Shin’ichi; Suruman, Katopo; Asai, Daisuke; Arata, Junpei; Baba, Shoichi; Takahashi, Hidetoshi; Mochizuki, Ryo; Kirino, Takaaki

doi:10.3171/jns.2005.103.2.0320

Cited by 52 publications

(30 citation statements)

References 20 publications

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“…In neurosurgery, medical robot technology is still in its infancy, and a lot of mechanical, software and user interface challenges have to be dealt with before this kind of technology is fully beneficial to the treatment of a patient (12,(15)(16)(17).…”

Section: Discussionmentioning

confidence: 99%

The analysis of intraoperative neurosurgical instrument movement using a navigation log-file

Woerdeman

Willems

Noordmans

et al. 2006

Int. J. Med. Robotics Comput. Assist. Surg.

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Section: Discussionmentioning

confidence: 99%

The analysis of intraoperative neurosurgical instrument movement using a navigation log-file

Woerdeman

Willems

Noordmans

et al. 2006

Int. J. Med. Robotics Comput. Assist. Surg.

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“…Kan, Nishizawa et al have developed a micromanipulator system named "HUMAN" [10,11]. Morita et al have developed another manipulator system that can operate in deep surgical fields [12]. Okayasu et al developed a hydraulically driven flexible manipulator for neurosurgery [13].…”

Section: Introductionmentioning

confidence: 99%

Force-detecting gripper and force feedback system for neurosurgery applications

et al. 2013

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CARS 2012Abstract Purpose For the application of less invasive robotic neurosurgery to the resection of deep-seated tumors, a prototype system of a force-detecting gripper with a flexible micromanipulator and force feedback to the operating unit will be developed.Methods Gripping force applied on the gripper is detected by strain gauges attached to the gripper clip. The signal is transmitted to the amplifier by wires running through the inner tube of the manipulator. Proportional force is applied on the finger lever of the operating unit by the surgeon using a bilateral control program. A pulling force experienced by the gripper is also detected at the gripper clip. The signal for the pulling force is transmitted in a manner identical to that mentioned previously, and the proportional torque is applied on the touching roller of the finger lever of the operating unit. The surgeon can feel the gripping force as the resistance of the operating force of the finger and can feel the pulling force as the friction at the finger surface.Results A basic operation test showed that both the gripping force and pulling force were clearly detected in the gripping of soft material and that the operator could feel the gripping force and pulling force at the finger lever of the operating unit.Conclusions A prototype of the force feedback in the microgripping manipulator system has been developed. The system will be useful for removing deep-seated brain tumors in future master-slave-type robotic neurosurgery.

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“…But more high performance is necessary in the robotic operation system for the neurosurgery [4]. Concerning the robot surgery for the resection of the deep seated tumor, Hongo et al [5] [6] ,Kan et al [7], Morita et al [8] and Arata et al [9] have been developing robotic neurosurgery system, but there is still not a force detecting gripper and enough flexibility in the micro manipulator.…”

Section: Introductionmentioning

confidence: 99%

Force detecting gripper and flexible micro manipulator for neurosurgery

Yoneyama

Watanabe

Kagawa

et al. 2011

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Abstract-In order to realize a less invasive robotic neurosurgery for the deeply seated tumor, a force detecting gripper with a flexible micro manipulator has been developed. Gripping force applied on the gripper is detected by strain gages fit on the gripper clip. Signal is conducted to the amplifier by the cables through the inner pipe of the manipulator. In order to approach to the deeply seated tumor through a narrow hole, a micro manipulator which can flex at the end part to face the gripper for the target and can rotate the closing direction of the gripper at the end of the manipulator has been developed. Some operation test showed that the developed manipulator can approach flexibly to the target, and the taking out force of a target on the soft material was detected clearly.

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Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models

Abstract: Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

Cited by 52 publications

References 20 publications

The analysis of intraoperative neurosurgical instrument movement using a navigation log-file

The analysis of intraoperative neurosurgical instrument movement using a navigation log-file

Force-detecting gripper and force feedback system for neurosurgery applications

Force detecting gripper and flexible micro manipulator for neurosurgery

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