Neurosurgical robotic system for brain tumor removal.
ABSTRACT Brain tumor (e.g., glioma) resection surgery, representing the first step for many treatments, is often difficult and time-consuming for neurosurgeons. Thus, intelligent neurosurgical instruments have been developed to improve tumor removal.
The concept and robotic structure of intelligent neurosurgical instruments were introduced. These instruments consist of a surgical robot, a master device and operating software. The robot incorporates a surgical motion base and tool manipulator, including a volume control suction tool. Open Core Control software was developed for connecting intelligent neurosurgical instruments through a network connection and integrating the instruments into a system.
Mechanical evaluation tests on the components and a preliminary system evaluation were performed. A phantom model was fixed on a head frame, and a tumor-removal procedure was successfully performed using prototype intelligent neurosurgical instruments.
Intelligent neurosurgical instruments are feasible and suitable for on-going evaluation in practical tasks, including in-vivo animal testing.
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ABSTRACT: Local surgery is safer than remote surgery because emergencies can be more easily addressed. Although many locally operated surgical robots and devices have been developed, none can safely grasp organs and provide traction. A new manipulator with a detachable commercial forceps was developed that can act as a third arm for a surgeon situated in a sterile area near the patient. This mechanism can be disassembled into compact parts that enable mobile use. A mobile locally operated detachable end-effector manipulator (LODEM) was developed and tested. This device uses crank-slider and cable-rod mechanisms to achieve 5 degrees of freedom and an acting force of more than 5 N. The total mass is less than 15 kg. The positional accuracy and speed of the prototype device were evaluated while performing simulated in vivo surgery. The accuracy of the mobile LODEM was 0.4 mm, sufficient for handling organs. The manipulator could be assembled and disassembled in 8 min, making it highly mobile. The manipulator could successfully handle the target organs with the required level of dexterity during an in vivo laparoscopic surgical procedure. A mobile LODEM was designed that allows minimally invasive robotically assisted endoscopic surgery by a surgeon working near the patient. This device is highly promising for robotic surgery applications.International Journal of Computer Assisted Radiology and Surgery 05/2014; 10(2). DOI:10.1007/s11548-014-1062-4 · 1.66 Impact Factor
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ABSTRACT: Several medical applications require devices capable of placing different substances inside the human body. Due to the nature of the task it is desirable to perform these actions with visual feedback, whereas the most viable solution, especially for deep target points, is computer tomography (CT). The paper presents an innovative device, which can be fitted inside the CT gantry, and has decoupled motions to ensure maximum accuracy during the needle placement. It will be shown that for needle placement tasks 5 degrees of freedom (DOF) are sufficient to achieve the task. The geometric and kinematic model of the robot will be presented. The workspace and precision mapping are computed. Some simulation results will show the robot capabilities as well as its placement in the CT scan environment.
Neurosurgery 01/2013; 72:A139-A153. DOI:10.1227/NEU.0b013e318273a1a3 · 3.03 Impact Factor