Int J Comput Assist Radiol Surg - Surgical bedside master console for neurosurgical robotic system.

Tópicos

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Resumo

RPOSE: We are currently developing a neurosurgical robotic system that facilitates access to residual tumors and improves brain tumor removal surgical outcomes. The system combines conventional and robotic surgery allowing for a quick conversion between the procedures. This concept requires a new master console that can be positioned at the surgical bedside and be sterilized.METHODS: The master console was developed using new technologies, such as a parallel mechanism and pneumatic sensors. The parallel mechanism is a purely passive 5-DOF (degrees of freedom) joystick based on the author's haptic research. The parallel mechanism enables motion input of conventional brain tumor removal surgery with a compact, intuitive interface that can be used in a conventional surgical environment. In addition, the pneumatic sensors implemented on the mechanism provide an intuitive interface and electrically isolate the tool parts from the mechanism so they can be easily sterilized.RESULTS: The 5-DOF parallel mechanism is compact (17 cm width, 19cm depth, and 15cm height), provides a 505,050 mm and 90? workspace and is highly backdrivable (0.27N of resistance force representing the surgical motion). The evaluation tests revealed that the pneumatic sensors can properly measure the suction strength, grasping force, and hand contact. In addition, an installability test showed that the master console can be used in a conventional surgical environment.CONCLUSION: The proposed master console design was shown to be feasible for operative neurosurgery based on comprehensive testing. This master console is currently being tested for master-slave control with a surgical robotic system.

Resumo Limpo

rpose current develop neurosurg robot system facilit access residu tumor improv brain tumor remov surgic outcom system combin convent robot surgeri allow quick convers procedur concept requir new master consol can posit surgic bedsid sterilizedmethod master consol develop use new technolog parallel mechan pneumat sensor parallel mechan pure passiv dof degre freedom joystick base author haptic research parallel mechan enabl motion input convent brain tumor remov surgeri compact intuit interfac can use convent surgic environ addit pneumat sensor implement mechan provid intuit interfac electr isol tool part mechan can easili sterilizedresult dof parallel mechan compact cm width cm depth cm height provid mm workspac high backdriv n resist forc repres surgic motion evalu test reveal pneumat sensor can proper measur suction strength grasp forc hand contact addit instal test show master consol can use convent surgic environmentconclus propos master consol design shown feasibl oper neurosurgeri base comprehens test master consol current test masterslav control surgic robot system

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