naa a22 4500 51080702X CHVBK 20180411083423.0 cr unu---uuuuu 180411e20130101xx s 000 0 eng 10.1007/s11548-012-0691-8 doi (NATIONALLICENCE)springer-10.1007/s11548-012-0691-8 Surgical bedside master console for neurosurgical robotic system [Elektronische Daten] [Jumpei Arata, Hajime Kenmotsu, Motoki Takagi, Tatsuya Hori, Takahiro Miyagi, Hideo Fujimoto, Yasukazu Kajita, Yuichiro Hayashi, Kiyoyuki Chinzei, Makoto Hashizume] Purpose: We are currently developing a neurosurgical robotic system that facilitates access to residual tumors and improves brain tumor removal surgical outcomes. The system combines conventional and robotic surgery allowing for a quick conversion between the procedures. This concept requires a new master console that can be positioned at the surgical bedside and be sterilized. Methods: The master console was developed using new technologies, such as a parallel mechanism and pneumatic sensors. The parallel mechanism is a purely passive 5-DOF (degrees of freedom) joystick based on the author's haptic research. The parallel mechanism enables motion input of conventional brain tumor removal surgery with a compact, intuitive interface that can be used in a conventional surgical environment. In addition, the pneumatic sensors implemented on the mechanism provide an intuitive interface and electrically isolate the tool parts from the mechanism so they can be easily sterilized. Results: The 5-DOF parallel mechanism is compact (17 cm width, 19cm depth, and 15cm height), provides a 505,050 mm and 90° workspace and is highly backdrivable (0.27N of resistance force representing the surgical motion). The evaluation tests revealed that the pneumatic sensors can properly measure the suction strength, grasping force, and hand contact. In addition, an installability test showed that the master console can be used in a conventional surgical environment. Conclusion: The proposed master console design was shown to be feasible for operative neurosurgery based on comprehensive testing. This master console is currently being tested for master-slave control with a surgical robotic system. CARS, 2012 Neurosurgery nationallicence Surgical robot nationallicence Master console nationallicence Brain tumor resection nationallicence Arata Jumpei Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut Kenmotsu Hajime Kyushu University, Maidashi 3-1-1, Higashi-ku, 812-8582, Fukuoka, Japan aut Takagi Motoki Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut Hori Tatsuya Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut Miyagi Takahiro Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut Fujimoto Hideo Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut Kajita Yasukazu Department of Neurosurgery, Graduate School of Medicine, Nagoya University, 65 Tsurumai-cho, Showa-ku, 466-8550, Nagoya, Japan aut Hayashi Yuichiro Department of Neurosurgery, Graduate School of Medicine, Nagoya University, 65 Tsurumai-cho, Showa-ku, 466-8550, Nagoya, Japan aut Chinzei Kiyoyuki National Institute of Advanced Industrial Science and Technology, 1-2-1 Namiki, 305-8564, Tsukuba, Japan aut Hashizume Makoto Kyushu University, Maidashi 3-1-1, Higashi-ku, 812-8582, Fukuoka, Japan aut International Journal of Computer Assisted Radiology and Surgery Springer-Verlag 8/1(2013-01-01), 75-86 1861-6410 8:1<75 2013 8 11548 https://doi.org/10.1007/s11548-012-0691-8 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11548-012-0691-8 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Arata Jumpei Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut NATIONALLICENCE 700 1- Kenmotsu Hajime Kyushu University, Maidashi 3-1-1, Higashi-ku, 812-8582, Fukuoka, Japan aut NATIONALLICENCE 700 1- Takagi Motoki Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut NATIONALLICENCE 700 1- Hori Tatsuya Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut NATIONALLICENCE 700 1- Miyagi Takahiro Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut NATIONALLICENCE 700 1- Fujimoto Hideo Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Nagoya, Japan aut NATIONALLICENCE 700 1- Kajita Yasukazu Department of Neurosurgery, Graduate School of Medicine, Nagoya University, 65 Tsurumai-cho, Showa-ku, 466-8550, Nagoya, Japan aut NATIONALLICENCE 700 1- Hayashi Yuichiro Department of Neurosurgery, Graduate School of Medicine, Nagoya University, 65 Tsurumai-cho, Showa-ku, 466-8550, Nagoya, Japan aut NATIONALLICENCE 700 1- Chinzei Kiyoyuki National Institute of Advanced Industrial Science and Technology, 1-2-1 Namiki, 305-8564, Tsukuba, Japan aut NATIONALLICENCE 700 1- Hashizume Makoto Kyushu University, Maidashi 3-1-1, Higashi-ku, 812-8582, Fukuoka, Japan aut NATIONALLICENCE 773 0- International Journal of Computer Assisted Radiology and Surgery Springer-Verlag 8/1(2013-01-01), 75-86 1861-6410 8:1<75 2013 8 11548 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer