Tele-operation master-slave system for minimal invasive brain surgery

Abstract

The minimal invasive surgery reducing an incision is required for a tumor resection in the field of neurosurgery. The minimal invasive surgery has many advantages of operations which are less lost of blood and painless using a thin long pole shape surgical instrument. For all those advantages, it has defects of difficulties of visual insurance and limitations of moving surgical instruments. Therefore, many researchers are developing several manipulators which are capable of minimal invasive surgery using robot technologies to solve these problems recently. However, most developed surgery robots for minimal invasive surgery are limited to the operation of laparoscopic surgery. In this study, we developed a tele-operational master-slave system for the minimal invasive brain surgery. The master manipulator has 4 degree of freedom (DOF) mechanism for the manipulation of slave position and direction. Similarly, the slave end-effecter for the minimal invasive brain surgery has a thin long pole shape of 4DOF instrument. The master manipulator and slave end-effector have a similar configuration and 4DOF mechanism which consists of a linear motion and 3 rotational roll-pitch-yaw motions. Therefore, the position command matching between the two systems is very easy. In addition, the master and slave control systems are connected with TCP/IP based internet communication for the tele-operation surgery. Finally, various experimental results are executed to evaluate the performances of the proposed tele-operation master-slave system.

Dynamic Virtual Fixture Generation Based on Intra-Operative 3D Image Feedback in Robot-Assisted Minimally Invasive Thoracic Surgery

“…VFs are typically employed to guide users along task-specific paths or restrict user actions from unsafe areas. There have been numerous methods utilizing basic geometric shapes, such as points [ 5 ], lines, curves [ 6 , 7 , 8 ], planes [ 9 ], and geometric primitives [ 10 , 11 ], to generate VFs. However, in surgical tasks where the environment is dynamic and complex, it becomes tedious and impractical to manually select and define geometric primitives.…”

Robust control for master–slave manipulator system avoiding obstacle collision under restricted working space

“…Nowadays, the MSC has been used in several technical applications due to its versatility on the movements performed by the final effector [13, 14]. From the mechanical point of view, the MSC considers that the slave robot manipulator (SRM) is analogous to the master robot manipulator (MRM) [15]. In MSCs, the MRM is operated by a human and the SRM realise the movements enforced by the MRM [16].…”

Feasibility analysis of a pressure sensitive rubber - based tactile sensor

“…In recent years, a novel catheter operating system with force feedback has been proposed [1]. Tele-Operation Master-Slave System for Minimal Invasive Brain Surgery has been reported [2]. Then A Novel Robotic Catheter System with Force and Visual Feedback for Vascular Interventional Surgery has been reported [3].…”