Development of multi-DOF brain retract manipulator for minimally invasive neurosurgery

Jun Okamoto*, Mitsuhisa Iida, Kazuya Nambu, Haruna Okayasu, Masakatsu G. Fujie, Mitsuo Umezu, Hiroshi Iseki

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)522-528
Number of pages7
JournalInternational Congress Series
Issue numberC
Publication statusPublished - 2003 Jun 1
Externally publishedYes


  • Manipulator
  • Minimally invasive surgery
  • Passive-hybrid control

ASJC Scopus subject areas

  • Medicine(all)


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