NeuRobot: Telecontrolled Micromanipulator System for Minimally Invasive Microneurosurgery—Preliminary Results

Hongo, Kazuhiro; Kobayashi, Shigeaki; Kakizawa, Yukinari; Koyama, Jun-ichi; Goto, Tetsuya; Okudera, Hiroshi; Kan, Kazutoshi; Fujie, Masakatsu G.; Iseki, Hiroshi; Takakura, Kintomo

doi:10.1097/00006123-200210000-00024

Cited by 55 publications

(23 citation statements)

References 8 publications

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“…In neurosurgery, robot applications mainly directed to stereotactic and endoscopic procedures have been pioneered by innovative neurosurgeons in the past two decades [14,15] . More recently, clinical applications of robotic neurosurgical telemanipulation have been reported by several groups [16][17][18] . Although the practical applications of robotic-assisted procedures in neurosurgery are yet to be demonstrated, as technology continues to advance, robotic applications in neurosurgery are likely to become more prevalent.…”

Section: Discussionmentioning

confidence: 99%

Application of a Robotic Telemanipulation System in Stereotactic Surgery

Tian

Lu²,

Wang³

et al. 2007

Stereotact Funct Neurosurg

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To assess the clinical usefulness, accuracy, and safety of telemanipulation for frameless stereotactic surgery using the CAS-BH5 robot system, we prospectively evaluated 10 patients (age: 5–79 years; mean: 44 years) who underwent telemanipulation frameless stereotactic operations from September to December 2005. The CAS-BH5 robot system consists of three main parts: a planning subsystem, a surgical localization subsystem, and a telemanipulation subsystem. Specifically, CAS-BH5 is capable of network communication, video transmission, graphic simulation and human-machine interaction, and thus facilitates remote planning and transmission of neuronavigation data, monitoring and manipulating. Telemanipulation was performed via a digital data network with a speed of 2,000 kilobytes per second by a neurosurgeon in Beijing while the patients were located in Yan’an, 1,300 km away. Remote fiducial registration was performed with a mean accuracy of 1.05 mm and the standard difference between the planned and actual trajectory was 0.13 mm. The mean time from fiducial registration to closure was 30.2 ± 1.66 min. At 12-month follow-up, 90% of patients had improved neurologically. There were no complications. This preliminary data indicates that telemanipulation in frameless stereotactic surgeries is feasible, reliable and safe. In the future, we believe that telemanipulation will facilitate collaboration between surgeons, enhance training, allow for sharing of resources, and have wide applications in the field of neurosurgery.

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Section: Discussionmentioning

confidence: 99%

Application of a Robotic Telemanipulation System in Stereotactic Surgery

Tian

Lu²,

Wang³

et al. 2007

Stereotact Funct Neurosurg

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“…Development of experimental systems for microsurgery started in the late 90s. Examples include master-slave systems such as the Robot-Assisted MicroSurgery (RAMS) workstation [132], NeuRobot [133] and cooperative type robots like the steady-hand eye robot [134]. Among special microsurgical applications, ophthalmic microsurgery, such as vitreo-retinal surgery, are very demanding procedures due to extremely small cutting forces and minute workspace that require advanced surgical skills that are near, if not beyond, human capabilities [135].…”

Section: E Microsurgical Tasksmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

193

131

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Abstract-Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of manmachine collaborative type, surgical robots are seen as media that transfer pre-and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts.

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“…To realize real safe and precise operations, haptic or force feedback systems are crucial. Many researchers then have developed haptic and force feedback systems for medical robots [4][5][6][7][8][9][10][11][12][13][14]. Our group also developed haptic or force feedback systems [15][16][17][18] for an endoscopic neurosurgery.…”

Section: Introductionmentioning

confidence: 99%

Haptic threshold for pulling force feedback on surgeon's fingertip in medical robotic systems

Chinbe

Yoneyama

Watanabe

et al. 2016

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society

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Abstract-The human fingertip has very high density of the receptor to accept sense of touch stimulation. The corresponding somatic sensory area in a brain is very large, and considered to be a specialized part for palpation. A lot of haptic display system then have been developed with the investigation of human haptic perception. However, the researches about the human perception for pulling force at grasping, namely static frictional force are limited. This paper investigated it, aiming at a future development of pulling and grasping force feedback system for neurosurgical robotic systems. For the purpose, this paper explored the possibility of displaying pulling force to an index finger during grasping. The absolute and difference thresholds for pulling sense were the targets. The results showed that grasping disturbs the pulling sense, and the sides of index fingertip can be used to display pulling sense, relatively large force, namely scaled force feedback is required for the perception. The results provide an important insight at a hardware and controller design of force feedback systems.

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NeuRobot: Telecontrolled Micromanipulator System for Minimally Invasive Microneurosurgery—Preliminary Results

Abstract: The use of telecontrolled manipulator systems in neurosurgery is very promising, and we are convinced that this system will facilitate more accurate, less invasive microneurosurgery. The details of the NeuRobot system and preliminary results are presented.

Cited by 55 publications

References 8 publications

Application of a Robotic Telemanipulation System in Stereotactic Surgery

Application of a Robotic Telemanipulation System in Stereotactic Surgery

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Haptic threshold for pulling force feedback on surgeon's fingertip in medical robotic systems

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