TY - JOUR
T1 - Development of multi-DOF brain retract manipulator for minimally invasive neurosurgery
AU - Okamoto, Jun
AU - Iida, Mitsuhisa
AU - Nambu, Kazuya
AU - Okayasu, Haruna
AU - Fujie, Masakatsu G.
AU - Umezu, Mitsuo
AU - Iseki, Hiroshi
PY - 2003/6/1
Y1 - 2003/6/1
N2 - In order to extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as a conductor and then other micromanipulator [K. Kan, M. Fujie, F. Tajima, K. Nishizawa, T. Kawai, A. Shose, Development of HUMAN system with three micromanipulators and minimally invasive neurosurgery, Proc. on the 15th International Symposium and Exhibition of Computer Assisted Radiology and Surgery (CARS), 2001, pp. 144–149.] afterwards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system consists of the following mechanisms: 10-DOF polyarticular spatula, brain retraction pressure monitoring system, Tendon-driven unit, which controls lock or free status of each joint of polyarticular spatula, passive-hybrid control system that assures the system a suitable safety, and 6-DOF SCARA type supporting structure. In evaluation test with a hog, insertion of the polyarticular spatula as deep as the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified.
AB - In order to extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as a conductor and then other micromanipulator [K. Kan, M. Fujie, F. Tajima, K. Nishizawa, T. Kawai, A. Shose, Development of HUMAN system with three micromanipulators and minimally invasive neurosurgery, Proc. on the 15th International Symposium and Exhibition of Computer Assisted Radiology and Surgery (CARS), 2001, pp. 144–149.] afterwards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system consists of the following mechanisms: 10-DOF polyarticular spatula, brain retraction pressure monitoring system, Tendon-driven unit, which controls lock or free status of each joint of polyarticular spatula, passive-hybrid control system that assures the system a suitable safety, and 6-DOF SCARA type supporting structure. In evaluation test with a hog, insertion of the polyarticular spatula as deep as the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified.
KW - Manipulator
KW - Minimally invasive surgery
KW - Passive-hybrid control
UR - http://www.scopus.com/inward/record.url?scp=0346239606&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0346239606&partnerID=8YFLogxK
U2 - 10.1016/S0531-5131(03)00303-0
DO - 10.1016/S0531-5131(03)00303-0
M3 - Article
AN - SCOPUS:0346239606
SN - 0531-5131
VL - 1256
SP - 522
EP - 528
JO - International Congress Series
JF - International Congress Series
IS - C
ER -