机器人神经外科手术：一项使用主动视觉引导机器人手臂进行骨钻孔和内镜操作的初步研究。
Robotic neurosurgery: a preliminary study using an active vision-guided robotic arm for bone drilling and endoscopic manoeuvres.
作者信息
Awang Mohamed Saufi, Abdullah Mohd Zaid
机构信息
Department of Neurosciences, School of Medical Sciences, Universiti Sains Malaysia Health Campus, 16150 Kubang Kerian, Kelantan, Malaysia.
出版信息
Malays J Med Sci. 2011 Apr;18(2):53-7.
BACKGROUND
Surgical robots have been appearing in operating rooms over the past decade, and neurosurgery has been one of the pioneers in this area. In neurosurgery, the clinical use of robots has been limited to stereotactic procedures and endoscopic manoeuvres, although the brain is a unique organ and well-suited for robotic application. The aim of this study was to assess the ability of our vision-guided robotic system to perform basic neurosurgical procedures.
METHODS
THE STUDY WAS DIVIDED INTO TWO PARTS: bone drilling and endoscopic manoeuvres. The robotic system was instructed to recognise targets on artificial skull models placed in different positions (supine, lateral, sitting, and prone) and to make burr holes. A total of 10 selected burr holes were used to assess the capability of the robot to insert an endoscope.
RESULTS
The accuracy ranged 0.1-1.0 mm with repeatability ranged 0.03-0.92 mm.
CONCLUSION
Generally, the present robotic system is able to perform the surgical tasks. However, further study is needed to refine the robotic system, including the safety mechanisms.
背景
在过去十年中，手术机器人已出现在手术室中，神经外科一直是这一领域的先驱之一。在神经外科领域，尽管大脑是一个独特的器官且非常适合机器人应用，但机器人的临床应用一直局限于立体定向手术和内镜操作。本研究的目的是评估我们的视觉引导机器人系统执行基本神经外科手术的能力。
方法
该研究分为两部分：颅骨钻孔和内镜操作。指示机器人系统识别放置在不同位置（仰卧位、侧卧位、坐位和俯卧位）的人工颅骨模型上的目标并制作骨孔。总共选择了10个骨孔来评估机器人插入内窥镜的能力。
结果
精度范围为0.1 - 1.0毫米，重复性范围为0.03 - 0.92毫米。
结论
总体而言，目前的机器人系统能够执行手术任务。然而，需要进一步研究以完善机器人系统，包括安全机制。
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