An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity

This paper provides a broad overview of medical robot systems used in surgery. After introducing basic concepts of computer-integrated surgery, surgical CAD/CAM, and surgical assistants, it discusses some of the major design issues particular to medical robots. It then illustrates these issues and the broader themes introduced earlier with examples of current surgical CAD/CAM and surgical assistant systems. Finally, it provides a brief synopsis of current research challenges and closes with a few thoughts on the research/industry/clinician teamwork that is essential for progress in the field.

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Medical robotics in computer-integrated surgery

✓ The natural history of primary intracranial germ-cell tumors (GCT's) is defined from 389 previously published cases, of which 65% were germinomas, 18% teratomas, 5% embryonal carcinomas, 7% endodermal sinus tumors, and 5% choriocarcinomas. Intracranial GCT's display specificity in site of origin. Ninety-five percent arise along the midline from the suprasellar cistern (37%) to the pineal gland (48%), and an additional 6% involve both sites. The majority of germinomas (57%) arise in the suprasellar cistern, while most nongerminomatous GCT's (68%) preferentially involve the pineal gland (p < 0.0001). The age distribution of afflicted patients is unimodal, centering with an abrupt surge in frequency in the early pubertal years; 68% of patients are diagnosed between 10 and 21 years of age. Nongerminomatous GCT's demonstrate an earlier age of onset than do germinomas (p < 0.0001). Prolonged symptomatic intervals prior to diagnosis are common in germinomas (p = 0.0007), in suprasellar GCT's (p = 0.001), and a...

Intracranial germ-cell tumors: natural history and pathogenesis.

The present invention provides a robot for use inside an open abdominal cavity during minimally-invasive surgery. The robot may include various sensors, imaging devices or manipulators.

Robot for surgical applications

The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

/pdf/modular-and-cooperative-medical-devices-and-related-systems-2ygp10es8i.pdf

Modular and cooperative medical devices and related systems and methods

In this paper, we propose a new prototype model of serial-parallel type of active micro catheter (MAC) with two bending degrees of freedom. It is 4 Fr, 5 Fr and 6 Fr (1 Fr=1/3 mm) in diameter and consist of 3 active units incorporating SMA wires in lumina as the servo actuator. The bending motion, bending direction and bending angle of the MAC have been measured by application of electricity in air and in physiological saline solution. We also modeled this MAC. Experimental results show that the model of the MAC is reasonable for practical applications. By using simulators (conditions similar to a body cavity), we carried out the simulation experiments of "in vitro" and "in vivo". The experimental results indicate that the proposed MAC is applicable to intracavity operations. >

Micro active catheter system with multi degrees of freedom

In this paper, we propose a new prototype model of micro-catheter with active guide wire that has two bending degrees of freedom. The design and fabrication methods of this micro active catheters (MAC) are described. Prototype models are 3Fr, 4Fr, 6Fr (1Fr=1/3 mm) in diameter and consist of catheter tube and active guide wire with ionic conducting polymer film actuator on its front end as the servo actuator. The bending characteristics of the MAC have been measured by application of electricity in physiological saline solution. We also modeled this MAC for characteristic evaluation. Experimental results show that the model of the active catheter is reasonable for practical applications. By using simulators (whose conditions are similar to those of a body cavity), we also carried out simulation experiments "in vitro". The experimental results indicate that the proposed MAC is applicable to intracavity operations.

Micro catheter system with active guide wire

Minimum invasive surgery that supports doctors and reduces patient's physical pain has attracted attention. We consider a new intravascular neurosurgery system. There are two problems in intravascular neurosurgery: one is doctor's exposure to x-ray, and another is the lack of skilled doctors. We developed a remote control system by using a master-slave system to solve these problems. In this paper, we describe the development of a new slave device in the master-slave system and construct the new remote control system of catheter operation with safety. To overcome some of the problems encountered on the previous slave device (2000), we develop a new slave device with a disposable structure employing the mechanism of a mechanical pencil for safe operation.

New catheter driving method using linear stepping mechanism for intravascular neurosurgery

OBJECTIVE:To revascularize ischemic territories of both the anterior cerebral artery(ACA) and the middle cerebral artery (MCA), a simple and effective combined bypass operation was performed in 36 pediatric patients with moyamoya disease during the past 8 years.METHODS:The branches of the superficia

Surgical Treatment for Pediatric Moyamoya Disease: Use of the Superficial Temporal Artery for Both Areas Supplied by the Anterior and Middle Cerebral Arteries

A 34-year-old woman with primary choroid plexus papilloma occurring in the suprasellar region is reported. No connection with the ventricular system was found during intraoperative observations. The findings of pathological examinations such as hematoxylin and eosin staining, transthyretin (prealbumin) immunoreactivity, and electron microscopy were consistent with choroid plexus papilloma. Radiologically, it was extremely difficult to differentiate from tuberculum sellae meningioma. To our knowledge, this is the first case of primary choroid plexus papilloma in this location reported in the literature.

Makoto Negoro

Papers

Micro active catheter system with multi degrees of freedom

Micro catheter system with active guide wire

New catheter driving method using linear stepping mechanism for intravascular neurosurgery

Surgical Treatment for Pediatric Moyamoya Disease: Use of the Superficial Temporal Artery for Both Areas Supplied by the Anterior and Middle Cerebral Arteries

Primary choroid plexus papilloma located in the suprasellar region: case report.