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

CT影像立体定向神经外科手术是一种创伤较小的手术方法，适用于许多神经外科手术，如活检、外科手术。我们正在开发CT引导的机器人辅助显微手术系统，用于立体定向脑外科手术。该机器人系统在利用CT图像测量目标位置后，将活检针精确定位到目标病变上。该机器人系统由立体定向脑外科手术机器人、机器人控制计算机、成像系统计算机、活检针针尖测量三维定位系统组成。该神经外科机器人由连杆机构部分、插入方向部分、插入部分、活检针部分、活检机构和头架组成，其中连杆机构部分具有2个自由度，运动连杆一端的球面运动是利用自身的圆周运动机构实现的。插入方向部分具有2个自由度，插入部分具有1个自由度，并允许活检针绕2个垂直轴旋转并沿直线轨迹插入脑中。活检针部分有1个自由度，活检机部分有2个自由度，打开组织抽吸口旋转活检针。CT成像系统由SUN工作站计算机组成。利用重建方法，扫描仪计算机提供256*256像素的数字图像。我们设计制造的立体定向脑外科手术机器人系统的相对精度为X轴为0.01 mm，Y轴为0.01 mm，z轴为0.1 mm。

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.