ムラガキ　ヨシヒロ   Muragaki Yoshihiro   村垣　善浩    所属   医学部 医学科（東京女子医科大学病院）    職種   客員教授
言語種別	英語
発表タイトル	Prototype of Robotic Neurosurgical Microscope based on ORiN Architecture
会議名	2019 16th International Conference on Ubiquitous Robots (UR)
学会区分	国際学会及び海外の学会
発表形式	口頭
講演区分	一般
発表者・共同発表者	◎HORISE Yuki, OKAMOTO Jun, YOSHIMITSU Kitaro, ISEKI Hiroshi, MASAMUNE Ken, MURAGAKI Yoshihiro
発表年月日	2019/06/26
開催地 （都市, 国名）	Jeju, Korea
学会抄録	16th International Conference on Ubiquitous Robots (UR) program Web 623-624
概要	In neurosurgery, a surgical microscope has been used for precise manipulation in cases such as a cautery of brain blood vessel. However, the surgical microscope is sometimes moved according to the surgical situation due to its narrow range of observation. In this case, an operating surgeon needs to interrupt the surgical manipulation and cannot concentrate on the surgery. To overcome this problem, we have developed a prototype of robotic surgical microscope for neurosurgery, in which a 3D/HD video microscope is attached to 6-DOF robot fixed in ceiling and can be controlled by a surgical instrument with optical ball markers, and the system program is based on ORiN architecture. We confirmed the feasibility of our robotic neurosurgical microscope by conducting operation test.