An open-source automated surgical instrument for microendoscope implantation.
An open-source automated surgical instrument for microendoscope implantation.
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DOI：
10.1016/j.jneumeth.2018.10.013
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发表时间：
2019-01-01
影响因子：
3
通讯作者：
Lin DT
中科院分区：
文献类型：
--
作者：
Liang B;Zhang L;Moffitt C;Li Y;Lin DT
梯度折射率（GRIN）透镜可用于对大脑深部区域进行成像，否则无法通过标准光学成像方法进行成像。在GRIN透镜植入前进行脑组织抽吸是一种广泛采用的方法。然而，典型的脑组织抽吸方法仍然依赖于手持式真空针，这是人为错误和低再现性的主观因素。因此，需要一种用于脑组织抽吸的高精度自动手术器械。我们开发了一种机器人手术器械，它利用机器人控制连接到真空泵的针来抽吸脑组织。该系统是基于一个商业立体定位仪器，和额外的部分可以购买现成的或计算机数控（CNC）加工。开发了一个基于MATLAB的用户友好的图形用户界面（GUI）来控制仪器。我们展示了GRIN透镜植入过程中的背侧纹状体使用我们提出的手术工具，并证实了植入后的显微镜下的手术结果。与传统的手持方法相比，可以通过与GUI交互来执行自动组织抽吸。该仪器是专门为显微内窥镜植入而设计的，但它也可以很容易地适用于机器人开颅手术。这种机器人手术器械可以最大限度地减少人为错误，减少培训时间，并大大提高手术精度。我们的机器人手术器械是GRIN透镜植入前脑组织抽吸的理想解决方案。这将有助于神经科学家利用微型显微镜或双光子显微镜结合显微内窥镜进行在体脑深部成像。
Gradient index (GRIN) lenses can be used to image deep brain regions otherwise inaccessible via standard optical imaging methods. Brain tissue aspiration before GRIN lens implantation is a widely adopted approach. However, typical brain tissue aspiration methods still rely on a handheld vacuum needle, which is subjective to human error and low reproducibility. Therefore, a high-precision automated surgical instrument for brain tissue aspiration is desirable. We developed a robotic surgical instrument that utilizes robotic control of a needle connected to a vacuum pump to aspirate brain tissue. The system was based on a commercial stereotaxic instrument, and the additional parts can be purchased off-the-shelf or Computer Numerical Control (CNC) machined. A MATLAB-based user- friendly graphical user interface (GUI) was developed to control the instrument. We demonstrated the GRIN lens implantation procedure in the dorsal striatum utilizing our proposed surgical instrument and confirmed the surgical results by microscope after the implantation. Compared to the traditional handheld method, the automatic tissue aspiration can be performed by interacting with GUI. The instrument was designed specifically for microendoscope implantation, but it can also be easily adapted for robotic craniotomy. This robotic surgical instrument can minimize human error, reduce training time, and greatly increase surgical precision. Our robotic surgical instrument is an ideal solution for brain tissue aspiration prior to GRIN lens implantation. It will be useful for neuroscientists performing in vivo deep brain imaging using miniature microscope or two-photon microscope combined with microendoscopes.
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