Hand-held multi-DOF robotic forceps for neurosurgery designed for dexterous manipulation in deep and narrow space

Author

Okubo, Takanori ; Harada, Kanako ; Fujii, Masahiro ; Tanaka, Shoji ; Ishimaru, Tetsuya ; Iwanaka, Tadashi ; Nakatomi, Hirohumi ; Sora, Sigeo ; Morita, Akio ; Sugita, Naohiko ; Mitsuishi, Mamoru

Author_Institution

Univ. of Tokyo, Tokyo, Japan

fYear

2014

fDate

26-30 Aug. 2014

Firstpage

6868

Lastpage

6871

Abstract

Neurosurgical procedures require precise and dexterous manipulation of a surgical suture in narrow and deep spaces in the brain. This is necessary for surgical tasks such as the anastomosis of microscopic blood vessels and dura mater suturing. A hand-held multi-degree of freedom (DOF) robotic forceps was developed to aid the performance of such difficult tasks. The diameter of the developed robotic forceps is 3.5 mm, and its tip has three DOFs, namely, bending, rotation, and grip. Experimental results showed that the robotic forceps had an average needle insertion force of 1.7 N. Therefore, an increase in the needle insertion force is necessary for practical application of the developed device.

Keywords

blood vessels; brain; dexterous manipulators; medical robotics; needles; neurophysiology; surgery; average needle insertion force; bending; brain; deep space dexterous manipulation; dura mater suturing; grip; hand-held multiDOF robotic forceps; hand-held multidegree-of-freedom robotic forceps; microscopic blood vessel anastomosis; narrow space dexterous manipulation; neurosurgical procedures; rotation; size 3.5 mm; surgical suture; surgical tasks; Force; Gears; Grippers; Needles; Neurosurgery; Robots; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE

Conference_Location

Chicago, IL

ISSN

1557-170X

Type

conf

DOI

10.1109/EMBC.2014.6945206

Filename

6945206