ニューロサージカル ･ モーションベースの開発

抄録

Neurosurgical motion base is a 8 DOF robotic arm for positioning a surgical tool. In this paper, its overview, kinematics, prototype implementation, mechanical evaluation and clinical set-up test using a patient phantom model are described. The neurosurgical motion base is developed as a mount-type surgical robot on a conventional surgical head frame, therefore, it is possible to realize a quick installation. In our concept, the neurosurgical motion base holds and positions a cutting-edge surgical tool including a sensor feedback suction tool and a 3D endoscope. In the neurosurgical motion base, a 4 DOF active mechanism is introduced for precise positioning of a surgical tool, and a 4 DOF passive mechanism is introduced for adjusting the robot position on the head frame. By introducing a new 3 DOF parallel mechanism into the active part of neurosurgical motion base, high rigidity and accuracy can be realized, and also it is possible to locate all actuators on the base part for a capability of sterilization. From mechanical evaluations, it was revealed that accuracy and rigidity of the developed robot were 0.04 mm and 6.5 N/mm respectively. In addition, by an installation test on a patient phantom model, a feasibility of the developed robot was positively shown.