Endoscopic Micro-manipulator Robotic System in Neurosurgery

为了使用方便，我们对NeuRobot（神经外科用显微镜显微操作系统）进行了改进。1）导航系统：Stealth Station（Medotronic Co. Ltd.）已安装到NeuRobot上。误差范围小于机械初始误差，这对于临床使用是可接受的。插入圆柱体的假设尖端在距离圆柱体尖端10 mm处测量。2）新开发的支持装置：NeuRobot上安装了多轴机器人。我们使用6轴工业机器人HP-6（安川电机有限公司）。支撑装置的底座重900公斤，高60厘米。删除了自动移动功能，并限制了最高速度，以确保安全。建立了紧急停车系统。NeuRobot成功地应用于神经外科的所有基本方法。手术模拟过程中未发生不当操作。3）插入圆柱体的旋转：NeuRobot的机械臂有三个自由度。通过增加插入离子柱的旋转，可以进行更复杂的操作。新设计的机械手支撑系统具有270 °的旋转和50 mm的前后移动。在手术模拟中，NeuRobot实现了更好的操作感觉和更短的操作时间。4）机器人手臂的分离：机器人手臂被分成两部分，便于清洗和重复使用：通过在它们之间放置微型杠杆来传递运动。不过，这种分体式机械臂有一个问题。所有研究项目均已完成，并进行了手术模拟。这些变更改进了NeuRobot，便于使用。然而，在此期间未尝试临床使用：新药事法严格限制了新设计手术工具的临床使用。

We have improved the NeuRobot (microscopic micro-manipulator system for Neurosurgery) for convenience use.1) Navigation System : Stealth Station(Medotronic Co. Ltd.) has been installed to the NeuRobot. The error range was less than mechanical initial error, which was acceptable for a clinical use. The hypothetical tip of the insertion cylinder was measured at 10 mm from the tip of cylinder.2) Newly developed supporting device : Multi-axis robot has been installed to the NeuRobot. We utilized 6-axis industrial robot, HP-6 (Yasukawa electric Co. Ltd.). The base of the supporting device was 900kg in weight and 60cm in height. Function of automatic movement was deleted, and the maximum speed was limited for safety. Emergency stop system was established. The NeuRobot was applied the all basic approach of Neurosurgery successfully. Inappropriate operation did not happen during the surgical simulation.3) Rotation of the insertion cylinder : Robot arm of the NeuRobot has three degrees of freedom. With adding rotation of insert ion cylinder, more complex manipulation was possible. The newly-designed manipulator supporting system has 270-degree of rotation and 50 mm of forward-backward movement. In the surgical simulation, the NeuRobot achieved better manipulation feeling and shorter operation time.4) Separation of an robot arm : The robot arm was split in two portion for easy washing and reusing : the motion was transmitted with placing mini-levers between them. However, this split-type robot arm had a problem. It was caused time lag between operator control and arm motion.All research projects were completed, surgical simulation was conducted. These changes improved the NeuRobot for convenience use. However, clinical use was not attempted in this period : New Pharmaceutical Affairs Law severely limits the clinical use of newly designed surgical tools.