日本コンピュータ外科学会誌
Online ISSN : 1884-5770
Print ISSN : 1344-9486
ISSN-L : 1344-9486
総説
画像誘導定位脳手術のための穿刺ロボットシステム
山内 康司正宗 賢小林 英津子土肥 健純伊関 洋
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2013 年 15 巻 1 号 p. 5-10

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In 1991, we have developed a needle insertion robotic system for CT-guided stereotactic neurosurgery. The system, based on existing stereotactic frame, had six DOF of movement with minimum size to fit a CT gantry.Safety issue was carefully considered: by cutting off the power supply, all axes were held rigidly to avoid unexpected motion. A phantom study using X-ray CT showed that the overall position error was 1.0mm. This system was followed by MRI-compatible version.This paper presents the history of this system and briefly reviews other stereotactic robots.

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© 2013 日本コンピュータ外科学会
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