Neurosurgical robotic system for brain tumor removal

Arata, Jumpei; Tada, Yasunori; Kozuka, Hiroaki; Wada, Tomohiro; Saito, Yoshitaka; Ikedo, Norio; Hayashi, Yûji; Fujii, Masazumi; Kajita, Yasukazu; Mizuno, Masaaki; Wakabayashi, Toshihiko; Yoshida, Jun; Fujimoto, Hideo

doi:10.1007/s11548-010-0514-8

Cited by 39 publications

(21 citation statements)

References 20 publications

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“…The software was design so that it would be natively available for multiple operation system platforms, including Windows, Linux and Mac OS X. 3D Slicer is operated based on the NA-MIC kit and other various software components [3].…”

Section: D Slicermentioning

confidence: 99%

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Joint Platforms and Community Efforts in Surgical Robotics Research

et al. 2015

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Abstract:In modern medical research and development, the variety of research tools has extended in the previous years. Exploiting the benefits of shared hardware platforms and software frameworks is crucial to keep up with the technological development rate. Sharing knowledge in terms of algorithms, applications and instruments allows researchers to help each other's work effectively. Community workshops and publications provide a throughout overview of system design, capabilities, know-how sharing and limitations. This paper provides sneak peek into the emerging collaborative platforms, focusing on available open-source research kits, software frameworks, cloud applications, teleoperation training environments and shared domain ontologies.

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Section: D Slicermentioning

confidence: 99%

“…1. Both research and clinical projects employed the 3D slicer in great numbers [4], such as brain tumor removal [3] or prostate biopsy, using the OpenIGTLink robotic platforms [5]. The 3D Slicer has a remarkable flexibility and adaptability to other software platforms, such as the Open Core Control software for surgical robotics [6].…”

Section: D Slicermentioning

confidence: 99%

Joint Platforms and Community Efforts in Surgical Robotics Research

et al. 2015

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“…In [10] Beira et al present a synthesis of passive and mechanically constrained solutions for obtaining the remote center of motion (RCM) and propose an innovative parallel manipulator with 4 DOF and a fixed RCM. Arata et al develop in [11] a neurosurgical robotic system for brain tumor removal with a fixed RCM consisting of a 4 DOF active mechanism and a 3 DOF passive one. Marcu presents in [12] a set of algorithms for a motion simulator useful for the structure assessment before a prototype is built.…”

Section: Advanced Engineering Forum Vols 8-9 575mentioning

confidence: 99%

A CT-Scan Compatible Robotic Device for Needle Placement in Medical Applications

Vaida

Gherman

Pîslă

et al. 2013

AEF

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Abstract. Several medical applications require devices capable of placing different substances inside the human body. Due to the nature of the task it is desirable to perform these actions with visual feedback, whereas the most viable solution, especially for deep target points, is computer tomography (CT). The paper presents an innovative device, which can be fitted inside the CT gantry, and has decoupled motions to ensure maximum accuracy during the needle placement. It will be shown that for needle placement tasks 5 degrees of freedom (DOF) are sufficient to achieve the task. The geometric and kinematic model of the robot will be presented. The workspace and precision mapping are computed. Some simulation results will show the robot capabilities as well as its placement in the CT scan environment.

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“…Okayasu et al developed a hydraulically driven flexible manipulator for neurosurgery [13]. Arata et al have been developing volume control suction tools with flexible manipulators to remove brain tumors [14,15].…”

Section: Introductionmentioning

confidence: 99%

Force-detecting gripper and force feedback system for neurosurgery applications

et al. 2013

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CARS 2012Abstract Purpose For the application of less invasive robotic neurosurgery to the resection of deep-seated tumors, a prototype system of a force-detecting gripper with a flexible micromanipulator and force feedback to the operating unit will be developed.Methods Gripping force applied on the gripper is detected by strain gauges attached to the gripper clip. The signal is transmitted to the amplifier by wires running through the inner tube of the manipulator. Proportional force is applied on the finger lever of the operating unit by the surgeon using a bilateral control program. A pulling force experienced by the gripper is also detected at the gripper clip. The signal for the pulling force is transmitted in a manner identical to that mentioned previously, and the proportional torque is applied on the touching roller of the finger lever of the operating unit. The surgeon can feel the gripping force as the resistance of the operating force of the finger and can feel the pulling force as the friction at the finger surface.Results A basic operation test showed that both the gripping force and pulling force were clearly detected in the gripping of soft material and that the operator could feel the gripping force and pulling force at the finger lever of the operating unit.Conclusions A prototype of the force feedback in the microgripping manipulator system has been developed. The system will be useful for removing deep-seated brain tumors in future master-slave-type robotic neurosurgery.

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Neurosurgical robotic system for brain tumor removal

Abstract: Intelligent neurosurgical instruments are feasible and suitable for on-going evaluation in practical tasks, including in-vivo animal testing.

Cited by 39 publications

References 20 publications

Joint Platforms and Community Efforts in Surgical Robotics Research

Joint Platforms and Community Efforts in Surgical Robotics Research

A CT-Scan Compatible Robotic Device for Needle Placement in Medical Applications

Force-detecting gripper and force feedback system for neurosurgery applications

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