MURAGAKI Yoshihiro    Department   School of Medicine(Tokyo Women's Medical University Hospital), School of Medicine    Position   Visiting Professor
Language	English
Title	Prototype of Robotic Neurosurgical Microscope based on ORiN Architecture
Conference	2019 16th International Conference on Ubiquitous Robots (UR)
Conference Type	International society and overseas society
Presentation Type	Speech
Lecture Type	General
Publisher and common publisher	◎HORISE Yuki, OKAMOTO Jun, YOSHIMITSU Kitaro, ISEKI Hiroshi, MASAMUNE Ken, MURAGAKI Yoshihiro
Date	2019/06/26
Venue (city and name of the country)	Jeju, Korea
Society abstract	16th International Conference on Ubiquitous Robots (UR) program Web 623-624
Summary	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.