DEVELOPMENT OF SENSOR TYPE TUMOR RESECTION ROBOT SYSTEM

1）光纤肿瘤传感器的研制由于肿瘤荧光较弱，外界照明光较强，难以检测到肿瘤荧光。为了真实的实时检测肿瘤荧光，我们采用了以下技术。a）激发光以50kHz的频率调制。然后对检测信号进行同频滤波，有效地消除了噪声和外部照明光。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）超声吸引器的控制系统设计并实现了利用光纤传感系统的信号控制超声吸引器的控制系统。3）将光纤肿瘤探测器嵌入超声吸引器的手持件中将光纤传感系统的光纤嵌入超声吸引器的手持件中，并将光纤肿瘤探测器的信号传输到超声吸引器的手持件中。声波吸引器纤维同轴地插入抽吸器的圆柱形尖端中，因此，纤维尖端和抽吸器尖端之间的差距被最小化。II.机器人类型机器人系统的应用1）机器人类型机器人系统在切除的肿瘤块中的应用我们将开发的系统应用于在胶质母细胞瘤的情况下术中切除的肿瘤块。结果，肿瘤部分被选择性地破坏和吸出，而正常部分未被破坏。我们发现该系统作为一种安全装置，保护正常结构。2）临床应用为了将该系统应用于临床，我们获得了大坂医科大学伦理委员会的批准。在不久的将来，我们将在临床上使用传感器型机器人系统。

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.