Development of CT - guided Robotic System assisted microsurgery for Stereotactic Brain Surgery

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CT image stereotactic neurosurgery is a less invasive method for many neurosurgical procedures as biopsy, surgical operation. We are developing of CT - guided robotic system assisted microsurgery for stereotactic brain surgery. This robot system precisely localizes a biopsy needle to the target lesion after measuring target posion with CT images. This robot system consists of the stereotactic brain surgery robot, robot contolled computer, imaging system computer, and measuring a tip of biopsy needle 3-demensional positioing system. The neurosurgical robot consists of link mechanism part, insertion direction part, insertion part, biopsy needle part, biopsy mechanism and head frame.The link mechanism part has 2 degrees of freedom and the spherical motion of the one end of a moving link is realized by employing a circular motion mechanism itself. The insertion direction part has 2 degrees of freedom and the insertion part has 1 degree of freedom and allow the biopsy needle to rotate around 2 perpendicular axies and to be insert into a brain along the straight trajectory. The biopsy needle part has 1 degree of freedom and the biopsy mechanism part has 2 degrees of freedom and open the tissue aspiration vent rotating biopsy needle.CT imaging system consist of SUN work station computer. Using reconstruction method, the scanner computer provides a 256 * 256 pixels digital image.We disigned and manufactured the stereotactic brain surgery robot system has a relative accuracy of X axis is 0.01mm, Y axis is 0.01mm, and z axis is 0.1mm.