2004 Fiscal Year Final Research Report Summary
Development of Microsurgery Robotic System
| Project/Area Number |
14370426
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Cerebral neurosurgery
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| Research Institution | The University of Tokyo |
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Principal Investigator |
MORITA Akio The University of Tokyo, Faculty of Medicine, Associate Professor, 医学部附属病院, 助教授 (60302725)
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| Co-Investigator(Kenkyū-buntansha) |
MITSUISHI Mamoru The University of Tokyo, Department of Medical Communication, Professor, 大学院・工学系研究科, 教授 (90183110)
ONOGI Yuuzou The University of Tokyo, Faculty of Medicine, Research Associate, 医学部附属病院, 講師 (90233593)
SHIN Masahiro The University of Tokyo, Faculty of Medicine, Research Associate, 医学部附属病院, 助手 (70302726)
SORA Shigeo The University of Tokyo, Faculty of Medicine, Research Associate, 医学部附属病院, 助手 (60359627)
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| Project Period (FY) |
2002 – 2004
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| Keywords | Robotics / Microsurgery / Video-microscope / Neurosurgery / Accuracy / dexterity / Anastomosis |
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| Research Abstract |
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.
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Research Products
(11 results)
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[Journal Article] Micro-Neurosurgical System in the Deep Surgical Field2004
Author(s)
Asai D, Katopo S, Arata J, Warisawa S, Mitsuishi M, Morita A, Sora S, Kirino T, Mochizuki R
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Journal Title
MICCAI 2004, LNCS 3217. (Barillot C, Haynor DR, Hellier P (eds))(Berlin, Heiderberg, Springer-Verlag)
Pages: 33-40
Description
「研究成果報告書概要(欧文)」より
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