Master–slave robotic platform and its feasibility study for micro‐neurosurgery. Issue 2 (16th May 2012)

• Record Type: Journal Article
• Authors: Mitsuishi, Mamoru; Morita, Akio; Sugita, Naohiko; Sora, Shigeo; Mochizuki, Ryo; Tanimoto, Keiji; Baek, Young Min; Takahashi, Hiroki; Harada, Kanako
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 9:Issue 2(2013)
• Page Start: 180
• Page End: 189
• Publication Date: 2012-05-16
• Subjects: Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.1434
• Languages: English
• ISSNs: 1478-5951

Abstract

<abstract abstract-type="main"> <title>Abstract</title> <sec id="rcs1434-sec-0001" sec-type="section"> <title>Background</title> <p>Microsurgery is a widely performed process in neurosurgery. However, it is difficult for surgeons because manipulating small and long instruments under a microscope often restricts dexterity. Hand tremors are also an issue, as the accuracy required for microsurgery is very high.</p> </sec> <sec id="rcs1434-sec-0002" sec-type="section"> <title>Method</title> <p>A master–slave robotic platform has been developed for neurosurgery. A position–orientation decoupled design was employed to enhance positioning accuracy, and a smooth trajectory generation method was developed.</p> </sec> <sec id="rcs1434-sec-0003" sec-type="section"> <title>Result</title> <p>The robotic tasks exhibited improved positioning accuracy compared to manual tasks. Anastomoses of 0.3 and 0.5 mm artificial vessels were successfully performed in end‐to‐end and end‐to‐side fashion.</p> </sec> <sec id="rcs1434-sec-0004" sec-type="section"> <title>Conclusion</title> <p>With the robotic platform, the surgeon was able to perform a fine and complex task, which is very difficult with manual operation. The robotic system showed sufficient accuracy and dexterity, but with a longer task completion time. Further improvement of the dexterity and user interface is expected to realize better performance. Copyright © 2012 John Wiley &amp; Sons, Ltd.</p> </sec> </abstract>