Robots for stereotactic neurosurgery

摘要

The number of medical robots has been gradually increasing in recent years. Two needle insertion manipulators for neurosurgery have been developed in our laboratory. One is a CT image guided neurorobot and the other the equivalent for MRI usage. Their basic concept as medical robotics is described. The two manipulators, used for image-guided neurosurgery, have an isocentric design with 6 d.o.f. They avoid interfering with the patient's head even during emergency situations. The manipulators can insert various surgical tools such as biopsy needles, suction tools and catheters. The robots are designed to assist the surgeon through precise positioning and needle navigation.