Endoscopic Micro-manipulator Robotic System in Neurosurgery

为了方便使用，我们改进了NeuRobot（神经外科显微操作系统）。1)导航系统：NeuRobot已安装Stealth Station（Medotronic Co. Ltd.）。误差范围小于机械初始误差，对于临床应用是可以接受的。假设插入圆柱体的尖端距离圆柱体尖端10mm处进行测量。2)新开发的支撑装置：多轴机器人已安装到NeuRobot上。我们使用六轴工业机器人HP-6（安川电机株式会社）。支撑装置底座重量为900kg，高度为60cm。删除自动移动功能，并为安全起见限制最高速度。建立了紧急停机系统。NeuRobot成功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)插入气缸的旋转：NeuRobot的机械臂有三个自由度。随着插入离子柱旋转的增加，更复杂的操作成为可能。新设计的机械手支撑系统具有270度旋转和50毫米的前后运动。在手术模拟中，NeuRobot获得了更好的操作感觉和更短的手术时间。4)机械臂的分离：机械臂被分成两部分，便于清洗和重复使用，运动是通过在两部分之间放置微型杠杆来传递的。然而，这种分体式机械臂有一个问题。这是由于操作员控制和手臂运动之间的时间滞后造成的。完成所有研究项目，进行手术模拟。这些变化改进了NeuRobot的使用方便。然而，这一时期并没有尝试临床使用：新药事法严重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.