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A newly developed stereotactic robot with detachable drive for neurosurgery

  • Ken Masamune
  • L. H. Ji
  • Makoto Suzuki
  • Takeyoshi Dohi
  • Hiroshi Iseki
  • Kintomo Takakura
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1496)

Abstract

This paper describes the development of a needle insertion manipulator for stereotactic neurosurgery. This robot fulfils the requirements of having both a safe mechanical design and the capacity for being sterilized. Many kinds of robots are examined in neurosurgery. Their purpose is the precise positioning of surgical instruments such as biopsy needles, electrodes etc. Some are already available commercially and have been proven useful in the operating theatre. However, their clinical application is limited by specific problems including cost, safety, positioning requirements, maintenance requirements. The main problems have been with the safety of the mechanical design and difficulties with sterilization and disinfecting pre-and post operatively. The manipulator described in this report achieves mechanical safety and has the capacity for cover-sheet-free sterilization. The manipulator has three major components: the main mechanical component (with 6 degrees of freedom), the torque transmission component, and the electric motor, which cannot be sterilized. The electrical parts are detachable. Using this mechanism, we can clearly separate the surgical area from the mechatronics components. In this paper, the basic design and the prototype development and testing are described.

Keywords

Industrial Robot Surgical Robot Image Guided Surgery Mechanical Safety Feed Screw 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

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Copyright information

© Springer-Verlag Berlin Heidelberg 1998

Authors and Affiliations

  • Ken Masamune
    • 1
  • L. H. Ji
    • 1
  • Makoto Suzuki
    • 1
  • Takeyoshi Dohi
    • 1
  • Hiroshi Iseki
    • 1
    • 2
  • Kintomo Takakura
    • 1
    • 2
  1. 1.Graduate school & Faculty of EngineeringThe University of TokyoJapan
  2. 2.Dept. of NeurosurgeryTokyo Women’s Medical CollegeJapan

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