脳深部手術支援システムにおける生体組織との衝突回避手法の開発

抄録

Neurosurgery in deep and narrow spaces requires dexterous and precise surgical manipulation which is difficult even for skilled surgeons. In order to overcome this difficulty, we have been developing a neurosurgical robotic system. However, there is a risk of injuring the surrounding brain tissues by collisions with the shaft of robotic instrument out of view. Therefore, we propose an autonomous collision avoidance method in which the posture of the robotic shaft is modified while keeping the position and orientation of the bending tip. The proposed method was evaluated by a robotic simulator. The experimental results showed that the proposed method reduced collisions with the surrounding tissues without compromising the usability.