Development of Microsurgery Robotic System

显微外科手术机器人系统的研制

• 批准号: 14370426
• 负责人: MORITA Akio
• 金额: $ 7.62万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2004
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-14370426/
• 关键词: Robotics; Microsurgery; Video-microscope; Neurosurgery; Accuracy; dexterity; Anastomosis; 脳神経外科手術; ロボティックサージェリー; スレーブマスター型マニピュレーター; 微小外科手術; Microsurgery; 低侵襲手術; 遠隔医療

Objectives : To enhance surgeons' dexterity and maneuverability in the deep surgical field, we developed a master-slave microsurgical robotic system. Our concept and the results of preliminary experiments are reported here. Methods : This system has a master control unit, which conveys motion commands in six degrees of freedom (d.o.f. ; X, Y, Z, rotation, tip flexion, and grasping) to two arms. The slave manipulator has a hanging base with an additional six d.o.f. that holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in shallow and deep surgical fields was compared to routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery in the deep operative field was done in 20 Wistar rats. Four routine surgical procedures were also carried out in cadavers. Results : The accuracy of pointing in the deep field with the non-dominant hand was significantly improved through the use of the robotics. We successfully closed the partial arteriotomy and completely anastomosed the rat carotid arteries 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 the cadavers, but the manipulators must be smaller to fit in the narrow intracranial space. Conclusion : Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments with our robotic system show promising maneuverability.

目的：为了提高外科医生在深部手术领域的灵活性和可操作性，我们研制了一种主从式显微手术机器人系统。本文报道了我们的概念和初步实验结果。方法：该系统具有一个主控制单元，它在六个自由度（d.o.f.）上传递运动命令。; X、Y、Z、旋转、尖端屈曲和抓握）。从机械手有一个额外的六个自由度的悬挂底座。其保持带有两个操纵器的电动操作单元（直径5 mm，长度18 cm）。原型在浅和深手术领域的准确性进行了比较，常规徒手显微手术。在20只Wistar大鼠中完成了部分动脉切开术和完全端端吻合的颈动脉深手术野。还在尸体上进行了四种常规外科手术。结果：通过使用机器人技术，非惯用手在深场指向的准确性得到了显着提高。我们成功地关闭了部分动脉切口，并完全关闭了深手术野中的大鼠颈动脉。在前10个大鼠实验过程中，缝合所需的时间显著缩短。机器人器械在尸体中的移动也令人满意，但操纵器必须更小，以适应狭窄的颅内空间。结论：计算机控制的手术操作将是神经外科的重要工具，我们的机器人系统的初步实验显示出有前途的可操作性。

项目成果

Micro-Neurosurgical System in the Deep Surgical Field

深部外科领域的显微神经外科系统

• 发表时间: 2004
• 期刊: MICCAI 2004,LNCS3217
• 作者: Asai D;Katopo S;Arata J;Warisawa S;Mitsuishi M;Morita_A;Sora S;Kirino T;Mochizuki R
• 通讯作者: Mochizuki R

脳神経外科深部手術用マイクロ・サージャリー・ロボット・システムの開発-第2報-ラットによる基本手術手技の検討

用于深部神经外科手术的显微手术机器人系统的开发 - 第 2 部分 - 使用大鼠检查基本手术技术

• 发表时间: 2003
• 期刊: J JSCAS (Journal of Japanese Society of Computer Aided Surgery) 5
• 作者: 森田明夫;楚良繁雄;桐野高明;カトポ スルマン;朝井大介;荒田純平;高橋秀誓;割澤伸一;光石衛
• 通讯作者: 光石衛

脳神経外科深部手術用マイクロサージャリー・ロボット・システムの開発-第1報-システムの構築について

用于深部神经外科手术的显微外科机器人系统的开发 - 第 1 部分 - 系统构建

• 发表时间: 2003
• 期刊: J JSCAS (Journal of Japanese Society of Computer Aided Surgery) 6
• 作者: カトポ スルマン;朝井大介;荒田純平;高橋秀誓;割澤伸一;光石衛;森田明夫;楚良繁雄;桐野高明
• 通讯作者: 桐野高明

Development of Microsurgery Robotic System for the Deep Surgical field : Part 2 : Analysis of rat anastomosis.

深部外科领域显微外科机器人系统的开发：第 2 部分：大鼠吻合分析。

• 发表时间: 2003
• 期刊: J JSCAS 5
• 作者: Morita A;Sora S;Kirino T;Surman K;Asai D;Arata J;Takahashi H;Warisawa S;Mitsuishi M;Mochizuki R
• 通讯作者: Mochizuki R

Development of Hybrid Integrated Endoscope-holder System for Endoscopic Microneurosurgery

• DOI: 10.1227/01.neu.0000139490.72543.27
• 发表时间: 2004-10
• 期刊: Neurosurgery
• 影响因子: 4.8
• 作者: A. Morita;Y. Okada;M. Kitano;T. Hori;M. Taneda;T. Kirino