Surgical bedside master console for neurosurgical robotic system

International Journal of Computer Assisted Radiology and Surgery
Jumpei ArataMakoto Hashizume

Abstract

We are currently developing a neurosurgical robotic system that facilitates access to residual tumors and improves brain tumor removal surgical outcomes. The system combines conventional and robotic surgery allowing for a quick conversion between the procedures. This concept requires a new master console that can be positioned at the surgical bedside and be sterilized. The master console was developed using new technologies, such as a parallel mechanism and pneumatic sensors. The parallel mechanism is a purely passive 5-DOF (degrees of freedom) joystick based on the author's haptic research. The parallel mechanism enables motion input of conventional brain tumor removal surgery with a compact, intuitive interface that can be used in a conventional surgical environment. In addition, the pneumatic sensors implemented on the mechanism provide an intuitive interface and electrically isolate the tool parts from the mechanism so they can be easily sterilized. The 5-DOF parallel mechanism is compact (17 cm width, 19cm depth, and 15cm height), provides a 505,050 mm and 90° workspace and is highly backdrivable (0.27N of resistance force representing the surgical motion). The evaluation tests revealed that the pneumatic sensors can prope...Continue Reading

References

Mar 27, 1999·Neurologia Medico-chirurgica
Jan 7, 2004·Journal of Neurosurgery·Tetsuya GotoShigeaki Kobayashi
May 24, 2007·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·L ZamoranoG Kaur
Oct 5, 2007·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·M S Eljamel
Jun 4, 2008·IEEE Engineering in Medicine and Biology Magazine : the Quarterly Magazine of the Engineering in Medicine & Biology Society·Garnette R SutherlandAlexander D Greer
Jul 22, 2009·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Junichi TokudaNobuhiko Hata
Jul 14, 2010·International Journal of Computer Assisted Radiology and Surgery·Jumpei ArataHideo Fujimoto

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Citations

Oct 1, 2016·International Journal of Computer Assisted Radiology and Surgery·Martin KlemmAlfred M Franz
Jun 2, 2016·Gynecologic Oncology·Jonathan R Foote, Fidel A Valea
Oct 16, 2015·Annals of Biomedical Engineering·James Andrew SmithVictor Yang
Jun 5, 2014·Journal of Sports Sciences·Paul Downward, Simona Rasciute

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