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NeuRobot: Telecontrolled Micromanipulator System for Minimally Invasive MicroneurosurgeryPreliminary Results

Hongo, Kazuhiro M.D.; Kobayashi, Shigeaki M.D.; Kakizawa, Yukinari M.D.; Koyama, Jun-ichi M.D.; Goto, Tetsuya M.D.; Okudera, Hiroshi M.D.; Kan, Kazutoshi M.Eng.; Fujie, Masakatsu G. Ph.D.; Iseki, Hiroshi M.D.; Takakura, Kintomo M.D.

Technical Report

OBJECTIVE : Microneurosurgery can be performed less invasively with the recent advances in neuronavigation and neuroendoscopy. For even less invasive microneurosurgery, we have developed a telecontrolled micromanipulator system.

METHODS : The NeuRobot telecontrolled micromanipulator system was developed. With the use of this system, surgical simulations were performed with a human cadaveric head.

RESULTS : The system consists of four main parts, i.e., a micromanipulator (slave manipulator), a manipulator-supporting device, an operation-input device (master manipulator), and a three-dimensional display monitor. Three 1-mm forceps and a three-dimensional endoscope, which could be remotely controlled with three degrees of freedom (rotation, neck swinging, and forward/backward motion), were installed in the slave manipulator. All surgical procedures were accurately performed with this system.

CONCLUSION : The use of telecontrolled manipulator systems in neurosurgery is very promising, and we are convinced that this system will facilitate more accurate, less invasive microneurosurgery. The details of the NeuRobot system and preliminary results are presented.

Department of Neurosurgery, Shinshu University School of Medicine, Matsumoto, Japan

Department of Neurosurgery, Shinshu University School of Medicine, Matsumoto, Japan

Department of Neurosurgery, Shinshu University School of Medicine, Matsumoto, Japan

Department of Neurosurgery, Shinshu University School of Medicine, Matsumoto, Japan

Department of Neurosurgery, Shinshu University School of Medicine, Matsumoto, Japan

Department of Intensive and Critical Care Medicine, Shinshu University School of Medicine, Matsumoto, Japan

Mechanical Engineering Research Laboratory, Hitachi, Ltd., Tsuchiura, Japan

Department of Mechanical Engineering, Waseda University, Waseda, Japan

Faculty of Advanced Techno-surgery, Institute of Advanced Biomedical Engineering and Science, Graduate School of Medicine, Tokyo Women’s Medical University, Tokyo, Japan

Faculty of Advanced Techno-surgery, Institute of Advanced Biomedical Engineering and Science, Graduate School of Medicine, Tokyo Women’s Medical University, Tokyo, Japan

Reprint requests:

Kazuhiro Hongo, M.D., Department of Neurosurgery, Shinshu University School of Medicine, 3-1-1 Asahi, Matsumoto 390-8621, Japan.

Email: khongo@hsp.md.shinshu-u.ac.jp

Received, February 22, 2002.

Accepted, May 29, 2002.

Copyright © by the Congress of Neurological Surgeons