Toward Autonomous Collision Avoidance for Robotic Neurosurgery in Deep and Narrow Spaces in the Brain

Hiroaki Ueda; Ryoya Suzuki; Atsushi Nakazawa; Yusuke Kurose; Murilo M. Marinho; Naoyuki Shono; Hirofumi Nakatomi; Nobuhito Saito; Eiju Watanabe; Akio Morita; Kanako Harada; Naohiko Sugita; Mamoru Mitsuishi

doi:10.1016/j.procir.2017.04.027

Toward Autonomous Collision Avoidance for Robotic Neurosurgery in Deep and Narrow Spaces in the Brain

Hiroaki Ueda, Ryoya Suzuki, Atsushi Nakazawa, Yusuke Kurose, Murilo M. Marinho, Naoyuki Shono, Hirofumi Nakatomi, Nobuhito Saito, Eiju Watanabe, Akio Morita, Kanako Harada^*, Naohiko Sugita, Mamoru Mitsuishi

^*Corresponding author for this work

EEE - Academic & Research

Research output: Contribution to journal › Conference article › peer-review

Abstract

The present authors have been developing a master-slave neurosurgical robot and its intelligent control for tasks in the deep and narrow spaces of the brain. This paper proposes a robotic autonomous control method for avoiding possible collisions between the shaft of a surgical robotic instrument and the surrounding tissues. To this end, a new robotic simulator was developed and used to evaluate the proposed method. The results showed the proof of concept of the proposed autonomous collision avoidance, which has the potential to enhance the safety of robotic neurosurgery in deep and narrow spaces.

Original language	English
Pages (from-to)	110-114
Number of pages	5
Journal	Procedia CIRP
Volume	65
DOIs	https://doi.org/10.1016/j.procir.2017.04.027
Publication status	Published - 2017
Event	3rd CIRP Conference on BioManufacturing 2017 - Chicago, United States Duration: 11 Jul 2017 → 14 Jul 2017

Keywords

master-slave
neurosurgery
surgical robot

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1016/j.procir.2017.04.027

Cite this

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title = "Toward Autonomous Collision Avoidance for Robotic Neurosurgery in Deep and Narrow Spaces in the Brain",

abstract = "The present authors have been developing a master-slave neurosurgical robot and its intelligent control for tasks in the deep and narrow spaces of the brain. This paper proposes a robotic autonomous control method for avoiding possible collisions between the shaft of a surgical robotic instrument and the surrounding tissues. To this end, a new robotic simulator was developed and used to evaluate the proposed method. The results showed the proof of concept of the proposed autonomous collision avoidance, which has the potential to enhance the safety of robotic neurosurgery in deep and narrow spaces.",

keywords = "master-slave, neurosurgery, surgical robot",

author = "Hiroaki Ueda and Ryoya Suzuki and Atsushi Nakazawa and Yusuke Kurose and Marinho, {Murilo M.} and Naoyuki Shono and Hirofumi Nakatomi and Nobuhito Saito and Eiju Watanabe and Akio Morita and Kanako Harada and Naohiko Sugita and Mamoru Mitsuishi",

note = "Publisher Copyright: {\textcopyright} 2016 The Authors. Published by Elsevier B.V.; 3rd CIRP Conference on BioManufacturing 2017 ; Conference date: 11-07-2017 Through 14-07-2017",

year = "2017",

doi = "10.1016/j.procir.2017.04.027",

language = "English",

volume = "65",

pages = "110--114",

journal = "Procedia CIRP",

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TY - JOUR

T1 - Toward Autonomous Collision Avoidance for Robotic Neurosurgery in Deep and Narrow Spaces in the Brain

AU - Ueda, Hiroaki

AU - Suzuki, Ryoya

AU - Nakazawa, Atsushi

AU - Kurose, Yusuke

AU - Marinho, Murilo M.

AU - Shono, Naoyuki

AU - Nakatomi, Hirofumi

AU - Saito, Nobuhito

AU - Watanabe, Eiju

AU - Morita, Akio

AU - Harada, Kanako

AU - Sugita, Naohiko

AU - Mitsuishi, Mamoru

PY - 2017

Y1 - 2017

N2 - The present authors have been developing a master-slave neurosurgical robot and its intelligent control for tasks in the deep and narrow spaces of the brain. This paper proposes a robotic autonomous control method for avoiding possible collisions between the shaft of a surgical robotic instrument and the surrounding tissues. To this end, a new robotic simulator was developed and used to evaluate the proposed method. The results showed the proof of concept of the proposed autonomous collision avoidance, which has the potential to enhance the safety of robotic neurosurgery in deep and narrow spaces.

AB - The present authors have been developing a master-slave neurosurgical robot and its intelligent control for tasks in the deep and narrow spaces of the brain. This paper proposes a robotic autonomous control method for avoiding possible collisions between the shaft of a surgical robotic instrument and the surrounding tissues. To this end, a new robotic simulator was developed and used to evaluate the proposed method. The results showed the proof of concept of the proposed autonomous collision avoidance, which has the potential to enhance the safety of robotic neurosurgery in deep and narrow spaces.

KW - master-slave

KW - neurosurgery

KW - surgical robot

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U2 - 10.1016/j.procir.2017.04.027

DO - 10.1016/j.procir.2017.04.027

M3 - Conference article

AN - SCOPUS:85029709787

SN - 2212-8271

VL - 65

SP - 110

EP - 114

JO - Procedia CIRP

JF - Procedia CIRP

T2 - 3rd CIRP Conference on BioManufacturing 2017

Y2 - 11 July 2017 through 14 July 2017

ER -

Toward Autonomous Collision Avoidance for Robotic Neurosurgery in Deep and Narrow Spaces in the Brain

Abstract

Keywords

UN SDGs

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