Coffey Kevin R, Barker David J, Ma Sisi, West Mark O
Department of Psychology, Rutgers, The State University of New Jersey.
J Vis Exp. 2013 Oct 29(80):e51006. doi: 10.3791/51006.
This protocol includes the designs and software necessary to upgrade an existing stereotaxic instrument to a robotic (CNC) stereotaxic instrument for around $1,000 (excluding a drill), using industry standard stepper motors and CNC controlling software. Each axis has variable speed control and may be operated simultaneously or independently. The robot's flexibility and open coding system (g-code) make it capable of performing custom tasks that are not supported by commercial systems. Its applications include, but are not limited to, drilling holes, sharp edge craniotomies, skull thinning, and lowering electrodes or cannula. In order to expedite the writing of g-coding for simple surgeries, we have developed custom scripts that allow individuals to design a surgery with no knowledge of programming. However, for users to get the most out of the motorized stereotax, it would be beneficial to be knowledgeable in mathematical programming and G-Coding (simple programming for CNC machining). The recommended drill speed is greater than 40,000 rpm. The stepper motor resolution is 1.8°/Step, geared to 0.346°/Step. A standard stereotax has a resolution of 2.88 μm/step. The maximum recommended cutting speed is 500 μm/sec. The maximum recommended jogging speed is 3,500 μm/sec. The maximum recommended drill bit size is HP 2.
本方案包括将现有的立体定向仪升级为机器人（计算机数控）立体定向仪所需的设计和软件，成本约为1000美元（不包括钻头），采用行业标准的步进电机和计算机数控控制软件。每个轴都有变速控制，可同时或独立操作。该机器人的灵活性和开放编码系统（G代码）使其能够执行商业系统不支持的定制任务。其应用包括但不限于钻孔、锐边开颅术、颅骨减薄以及插入电极或套管。为了加快简单手术的G代码编写，我们开发了定制脚本，使不具备编程知识的人员也能设计手术。然而，为了让用户充分利用电动立体定向仪，了解数学编程和G代码（计算机数控加工的简单编程）将大有裨益。推荐的钻孔速度大于40000转/分钟。步进电机分辨率为1.8°/步，经齿轮传动后为0.346°/步。标准立体定向仪的分辨率为2.88微米/步。推荐的最大切割速度为500微米/秒。推荐的最大点动速度为3500微米/秒。推荐的最大钻头尺寸为HP 2。
