Development of multi-DOF brain retract manipulator for minimally invasive neurosurgery

In order to extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as a conductor and then other micromanipulator [K. Kan, M. Fujie, F. Tajima, K. Nishizawa, T. Kawai, A. Shose, Development of HUMAN system with three micromanipulators and minimally invasive neurosurgery, Proc. on the 15th International Symposium and Exhibition of Computer Assisted Radiology and Surgery (CARS), 2001, pp. 144–149.] afterwards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system consists of the following mechanisms: 10-DOF polyarticular spatula, brain retraction pressure monitoring system, Tendon-driven unit, which controls lock or free status of each joint of polyarticular spatula, passive-hybrid control system that assures the system a suitable safety, and 6-DOF SCARA type supporting structure. In evaluation test with a hog, insertion of the polyarticular spatula as deep as the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified.