title: Surgical bedside master console for neurosurgical robotic system.
abstract: OBJECTIVE
  We are currently developing a neurosurgical robotic system that facilitates access to residual tumors and improves brain tumor removal surgical outcomes. The system combines conventional and robotic surgery allowing for a quick conversion between the procedures. This concept requires a new master console that can be positioned at the surgical bedside and be sterilized.
  
  
  METHODS
  The master console was developed using new technologies, such as a parallel mechanism and pneumatic sensors. The parallel mechanism is a purely passive 5-DOF (degrees of freedom) joystick based on the author's haptic research. The parallel mechanism enables motion input of conventional brain tumor removal surgery with a compact, intuitive interface that can be used in a conventional surgical environment. In addition, the pneumatic sensors implemented on the mechanism provide an intuitive interface and electrically isolate the tool parts from the mechanism so they can be easily sterilized.
  
  
  RESULTS
  The 5-DOF parallel mechanism is compact (17 cm width, 19cm depth, and 15cm height), provides a 505,050 mm and 90° workspace and is highly backdrivable (0.27N of resistance force representing the surgical motion). The evaluation tests revealed that the pneumatic sensors can properly measure the suction strength, grasping force, and hand contact. In addition, an installability test showed that the master console can be used in a conventional surgical environment.
  
  
  CONCLUSIONS
  The proposed master console design was shown to be feasible for operative neurosurgery based on comprehensive testing. This master console is currently being tested for master-slave control with a surgical robotic system.
authors.affiliation: Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466-8555, Japan. jumpei.arata@me.com
authors.forename: Jumpei
authors.initials: J
authors.lastname: Arata
authors.forename: Hajime
authors.initials: H
authors.lastname: Kenmotsu
authors.forename: Motoki
authors.initials: M
authors.lastname: Takagi
authors.forename: Tatsuya
authors.initials: T
authors.lastname: Hori
authors.forename: Takahiro
authors.initials: T
authors.lastname: Miyagi
authors.forename: Hideo
authors.initials: H
authors.lastname: Fujimoto
authors.forename: Yasukazu
authors.initials: Y
authors.lastname: Kajita
authors.forename: Yuichiro
authors.initials: Y
authors.lastname: Hayashi
authors.forename: Kiyoyuki
authors.initials: K
authors.lastname: Chinzei
authors.forename: Makoto
authors.initials: M
authors.lastname: Hashizume
mesh_terms: D004867:Equipment Design; D006801:Humans; D019635:Neurosurgical Procedures / Q000379:methods*; D019095:Point-of-Care Systems; D012371:Robotics / Q000295:instrumentation*; D012984:Software; D013238:Stereotaxic Techniques / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted; D014584:User-Computer Interface