DEVELOPMENT OF SENSOR TYPE TUMOR RESECTION ROBOT SYSTEM

1.传感型机器人系统的研制1)光导纤维肿瘤的研制由于肿瘤荧光的微弱和来自光照的强光，很难检测到肿瘤的荧光。为了实时检测肿瘤的荧光，我们采用了以下技术。A)以50 kHz的频率调制激发光。然后对检测信号进行同频滤波，有效地消除了噪声和外界照明光。B)采用雪崩光电二极管实现了极高的灵敏度和时间分辨率。3)将光纤肿瘤传感器安装在超声波吸引器的手机上，将光纤肿瘤传感器安装在超声波吸引器的手持器上。2)传感型机器人系统的应用1)传感型机器人系统在肿瘤切除中的应用我们将所研制的系统应用于胶质母细胞瘤术中摘除肿瘤。因此，肿瘤部分被选择性地破坏并被抽吸，而正常部分不被破坏。我们发现，该系统起到了保护正常结构的安全装置的作用。2)临床应用为了将该系统应用于临床，我们已获得大阪医学院伦理委员会的批准。在不久的将来，我们将在临床上使用传感式机器人系统。

I.DEVELOPMENT OF THE SENSOR TYPE ROBOT SYSTEM1)DEVELOPMENT OF FIBER-OPTIC TUMOR SENSORBecause of the faintness of tumor fluorescence and strong external light from illumination, it is difficult to detect the tumor fluorescence. In order to detect the tumor fluorescence in real time, we adopted the following the following techniques. a)Excitation light was modulated at the frequency of 50 kHz. Then the detected signal was filtered at the same frequency, as a result the noise and external illumination light were effectively eliminated. b)We employed the avalanche photo-diode to realize the extremely high sensitivity and high time resolution. c)The interference filter enabled us to separate the fluorescence from excitation light.2)CONTROLIING THE ULTRA-SONIC ASPIRATORThe control system which control the ultra-sonic aspirator by the signals from fiber-optics sensor system was designed and manufactured.3)INSTALLATION THE FIBER-OPTIC TUMOR SENSOR INTO THE HAND PIECE OF THE ULTRA-SONIC ASPIRATORThe optical fiber of the sensor system was incorporated into the hand piece of the ultra-sonic aspirator. The fiber was inserted in the cylindrical tip of the aspirator coaxially, consequently, the gap between the fiber tip and aspirator tip was minimized.II.APPLICATION OF THE SENSOR TYPE ROBOT SYSTEM1)THE APPLICATION OF THE SENSOR TYPE ROBOT SYSTEM TO RESECTED TUMOR MASSWe applied the developed system to the tumor mass which were intra-operatively removed in the cases of glioblastoma. As a result, the tumor parts were selectively destroyed and aspirated, but the normal parts were not destroyed. We found that this system were acted as a safety device, which protects the normal structures.2)CLINICAL APPLICATIONIn order to apply this system to clinical use, we have obtained the approval of the ethical committee of Osaka Medical College. In the near future, we are going to use the sensor type robot system in clinic.