A newly developed stereotactic robot with detachable drive for neurosurgery

Ken Masamune, L. H. Ji, Makoto Suzuki, Takeyoshi Dohi, Hiroshi Iseki, Kintomo Takakura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages215-222
Number of pages8
Volume1496
ISBN (Print)3540651365, 9783540651369
Publication statusPublished - 1998
Externally publishedYes
Event1st International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1998 - Cambridge, United States
Duration: 1998 Oct 111998 Oct 13

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1496
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other1st International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1998
CountryUnited States
CityCambridge
Period98/10/1198/10/13

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ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Masamune, K., Ji, L. H., Suzuki, M., Dohi, T., Iseki, H., & Takakura, K. (1998). A newly developed stereotactic robot with detachable drive for neurosurgery. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 1496, pp. 215-222). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1496). Springer Verlag.