title: Hand-held multi-DOF robotic forceps for neurosurgery designed for dexterous manipulation in deep and narrow space.
abstract: Neurosurgical procedures require precise and dexterous manipulation of a surgical suture in narrow and deep spaces in the brain. This is necessary for surgical tasks such as the anastomosis of microscopic blood vessels and dura mater suturing. A hand-held multi-degree of freedom (DOF) robotic forceps was developed to aid the performance of such difficult tasks. The diameter of the developed robotic forceps is 3.5 mm, and its tip has three DOFs, namely, bending, rotation, and grip. Experimental results showed that the robotic forceps had an average needle insertion force of 1.7 N. Therefore, an increase in the needle insertion force is necessary for practical application of the developed device.
authors.forename: Takuro
authors.initials: T
authors.lastname: Okubo
authors.forename: Kanako
authors.initials: K
authors.lastname: Harada
authors.forename: Masahiro
authors.initials: M
authors.lastname: Fujii
authors.forename: Shinichi
authors.initials: S
authors.lastname: Tanaka
authors.forename: Tetsuya
authors.initials: T
authors.lastname: Ishimaru
authors.forename: Tadashi
authors.initials: T
authors.lastname: Iwanaka
authors.forename: Hirohumi
authors.initials: H
authors.lastname: Nakatomi
authors.forename: Sigeo
authors.initials: S
authors.lastname: Sora
authors.forename: Akio
authors.initials: A
authors.lastname: Morita
authors.forename: Naohiko
authors.initials: N
authors.lastname: Sugita
authors.forename: Mamoru
authors.initials: M
authors.lastname: Mitsuishi
mesh_terms: D004867:Equipment Design; D006225:Hand / Q000502:physiology; D006801:Humans; D009339:Needles; D009493:Neurosurgery / Q000295:instrumentation* / Q000379:methods; D019635:Neurosurgical Procedures / Q000295:instrumentation*; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D012399:Rotation; D013314:Stress, Mechanical; D013525:Surgical Instruments