A New Method to Extend Applicable Area of Minimally Invasive Neurosurgery by Brain Retract Manipulator

摘要

To extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as an conductor and then other micromanipulator after-wards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system is controlled by new safety method with brain retraction pressure monitoring system, Tendon-driven unit which controls lock of free status of each joint of multi-joint spatula, Passive-hybrid control system that assure the system a suitable safety. In evaluation test with a hog, insertion of the multi-joint spatula as deep ad the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified.