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Quantifying workspace and forces of surgical dissection during robot‐assisted neurosurgery
Author(s) -
Maddahi Yaser,
Gan Liu Shi,
Zareinia Kourosh,
Lama Sanju,
Sepehri Nariman,
Sutherland Garnette R.
Publication year - 2016
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1679
Subject(s) - workspace , microsurgery , neurosurgery , orientation (vector space) , robot , haptic technology , computer science , controller (irrigation) , medical physics , surgery , simulation , artificial intelligence , medicine , mathematics , geometry , agronomy , biology
Background A prerequisite for successful robot‐assisted neurosurgery is to use a hand‐controller matched with characteristics of real robotic microsurgery. This study reports quantified data pertaining to the required workspace and exerted forces of surgical tools during robot‐assisted microsurgery. Methods A surgeon conducted four operations in which the neuroArm surgical system, an image‐guided computer‐assisted manipulator specifically designed to perform robot‐assisted neurosurgery, was employed to surgically remove brain tumors. The position, orientation, and exerted force of surgical tools were measured during operations. Results Workspace of the neuroArm manipulators, for the cases studied, was 60×60×60 mm 3 while it offered orientation ranges of 103°, 62° and 112°. The surgical tools exerted a maximum force of 1.86 N with frequency band of less than 20 Hz. Conclusions This data provides important information specific to neurosurgery that can be used to select among commercially available, or further design a customized, haptic hand‐controller for robot‐assisted neurosurgical systems. Copyright © 2015 John Wiley & Sons, Ltd.