Abstract
Object. To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master -slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. Methods. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Conclusions. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.
| Original language | English |
|---|---|
| Pages (from-to) | 320-327 |
| Number of pages | 8 |
| Journal | Journal of Neurosurgery |
| Volume | 103 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - Jan 1 2005 |
| Externally published | Yes |
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All Science Journal Classification (ASJC) codes
- Surgery
- Clinical Neurology
Cite this
Microsurgical robotic system for the deep surgical field : Development of a prototype and feasibility studies in animal and cadaveric models. / Morita, Akio; Sora, Shigeo; Mitsuishi, Mamoru; Warisawa, Shinichi; Suruman, Katopo; Asai, Daisuke; Arata, Jumpei; Baba, Shoichi; Takahashi, Hidechika; Mochizuki, Ryo; Kirino, Takaaki.
In: Journal of Neurosurgery, Vol. 103, No. 2, 01.01.2005, p. 320-327.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Microsurgical robotic system for the deep surgical field
T2 - Development of a prototype and feasibility studies in animal and cadaveric models
AU - Morita, Akio
AU - Sora, Shigeo
AU - Mitsuishi, Mamoru
AU - Warisawa, Shinichi
AU - Suruman, Katopo
AU - Asai, Daisuke
AU - Arata, Jumpei
AU - Baba, Shoichi
AU - Takahashi, Hidechika
AU - Mochizuki, Ryo
AU - Kirino, Takaaki
PY - 2005/1/1
Y1 - 2005/1/1
N2 - Object. To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master -slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. Methods. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Conclusions. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.
AB - Object. To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master -slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. Methods. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Conclusions. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.
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U2 - 10.3171/jns.2005.103.2.0320
DO - 10.3171/jns.2005.103.2.0320
M3 - Article
VL - 103
SP - 320
EP - 327
JO - Journal of Neurosurgery
JF - Journal of Neurosurgery
SN - 0022-3085
IS - 2
ER -