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The minimal invasive surgery reducing an incision is required for a tumor resection in the field of neurosurgery. The minimal invasive surgery has many advantages of operations which are less lost of blood and painless using a thin long pole shape surgical instrument. For all those advantages, it has defects of difficulties of visual insurance and limitations of moving surgical instruments. Therefore, many researchers are developing several manipulators which are capable of minimal invasive surgery using robot technologies to solve these problems recently. However, most developed surgery robots for minimal invasive surgery are limited to the operation of laparoscopic surgery. In this study, we developed a tele-operational master-slave system for the minimal invasive brain surgery. The master manipulator has 4 degree of freedom (DOF) mechanism for the manipulation of slave position and direction. Similarly, the slave end-effecter for the minimal invasive brain surgery has a thin long pole shape of 4DOF instrument. The master manipulator and slave end-effector have a similar configuration and 4DOF mechanism which consists of a linear motion and 3 rotational roll-pitch-yaw motions. Therefore, the position command matching between the two systems is very easy. In addition, the master and slave control systems are connected with TCP/IP based internet communication for the tele-operation surgery. Finally, various experimental results are executed to evaluate the performances of the proposed tele-operation master-slave system.

This article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall-based haptic guidance together with a medical image-guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall-based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator's trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% ( p < 0.05). The experiments show that virtual wall-based haptic guidance provides safer and more accurate tissue removal for single-port brain surgery.

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