Int J Med Robot - Master-slave robotic platform and its feasibility study for micro-neurosurgery.

Tópicos

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Resumo

CKGROUND: Microsurgery is a widely performed process in neurosurgery. However, it is difficult for surgeons because manipulating small and long instruments under a microscope often restricts dexterity. Hand tremors are also an issue, as the accuracy required for microsurgery is very high.METHOD: A master-slave robotic platform has been developed for neurosurgery. A position-orientation decoupled design was employed to enhance positioning accuracy, and a smooth trajectory generation method was developed.RESULT: The robotic tasks exhibited improved positioning accuracy compared to manual tasks. Anastomoses of 0.3 and 0.5 mm artificial vessels were successfully performed in end-to-end and end-to-side fashion.CONCLUSION: With the robotic platform, the surgeon was able to perform a fine and complex task, which is very difficult with manual operation. The robotic system showed sufficient accuracy and dexterity, but with a longer task completion time. Further improvement of the dexterity and user interface is expected to realize better performance.

Resumo Limpo

ckground microsurgeri wide perform process neurosurgeri howev difficult surgeon manipul small long instrument microscop often restrict dexter hand tremor also issu accuraci requir microsurgeri highmethod masterslav robot platform develop neurosurgeri positionorient decoupl design employ enhanc posit accuraci smooth trajectori generat method developedresult robot task exhibit improv posit accuraci compar manual task anastomos mm artifici vessel success perform endtoend endtosid fashionconclus robot platform surgeon abl perform fine complex task difficult manual oper robot system show suffici accuraci dexter longer task complet time improv dexter user interfac expect realiz better perform

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