NeuroArm
Encyclopedia
NeuroArm is a surgical robot
. It was specifically designed for neurosurgery
. It is the first image-guided
, MR-compatible
surgical robot that can perform both microsurgery
and stereotaxy
.
. NeuroArm includes two remote detachable manipulators on a mobile base, a workstation and a system control cabinet. For biopsy-stereotaxy
, either the left or right arm is transferred to a stereotactic platform that attaches to the MR bore. The procedure is performed with image-guidance, as MR images are acquired in near real-time. The end-effectors interface with surgical tools which are based on standard neurosurgical instruments.
End-effectors are equipped with three-dimensional force-sensors, providing the sense of touch. The surgeon seated at the workstation controls the robot using force feedback hand controllers. The workstation recreates the sight and sensation of microsurgery by displaying the surgical site and 3D MRI displays, with superimposed tools. NeuroArm enables remote manipulation of the surgical tools from a control room adjacent to the surgical suite. It was designed to function within the environment of 1.5 and 3.0 tesla
intraoperative MRI systems. As neuroArm is MR-compatible, stereotaxy can be performed inside the bore of the magnet with near real-time image guidance. NeuroArm possesses the dexterity to perform microsurgery, outside of the MRI system.
Telerobotic operations both inside and outside the magnet are performed using specialized tool sets based on standard neurosurgical instruments, adapted to the end effectors. Using these, NeuroArm is able to cut and manipulate soft tissue, dissect tissue planes, suture, biopsy, electrocauterize, aspirate and irrigate. NeuroArm is 3 foot (0.9144 m) tall and 2 foot (0.6096 m) wide, but it can be adjusted to fit any table height. The robot weighs 500 pounds (226.8 kg) and has two ambidextrous arms. It sits on caster
s and can be easily rolled in and out of position. It has a fail-safe braking mechanism that secures it to the floor preventing any movement.
, B.J. and Don Seaman provided $2 million to begin design. Dr. Sutherland and his group established a collaboration with the Canadian space engineering company MacDonald Dettwiler and Associates
(MDA). Close collaboration between MDA space robotic engineers, who built the Canadarm and Dextre, and University of Calgary physicians, nurses and scientists contributed to the design and development of NeuroArm. Official launch of the project was on April 17, 2007.
NeuroArm was designed to take full advantage of the imaging environment provided by intraoperative MRI. The ability to couple near real-time, high resolution images to robotic technologies provides the surgeon with image guidance, precision, accuracy and dexterity. MDA Engineers were immersed in the operating room to study typical tool and surgeon motions in order to use biomimicry for effective design of the computer-assisted surgical device. NeuroArm has been designed to replace the main neurosurgeon. The OR environment, personnel, surgical rhythm and instrumentation remain unchanged. The surgeon, sitting at the workstation, is provided a virtual environment that recreates the sight, sound and touch of surgery. Functions like tremor filtering and motion scaling were applied to increase precision and accuracy while functions like no-go zones and linear lock were applied to enhance safety. While surgical tools are near the patient's head the system is incapable of fully independent movement and is at all times slaved to the surgeon’s movement. Pre-planned automatic motions are used to move the robot arms away from the patient's head for manual tool exchange, and then return them to the original position and orientation.
Robotic surgery
Robotic surgery, computer-assisted surgery, and robotically-assisted surgery are terms for technological developments that use robotic systems to aid in surgical procedures....
. It was specifically designed for neurosurgery
Neurosurgery
Neurosurgery is the medical specialty concerned with the prevention, diagnosis, treatment, and rehabilitation of disorders which affect any portion of the nervous system including the brain, spine, spinal cord, peripheral nerves, and extra-cranial cerebrovascular system.-In the United States:In...
. It is the first image-guided
Image-guided surgery
Image-guided surgery is the general term used for any surgical procedure where the surgeon employs tracked surgical instruments in conjunction with preoperative or intraoperative images in order to indirectly guide the procedure. Most image-guided surgical procedures are minimally invasive...
, MR-compatible
Magnetic resonance imaging
Magnetic resonance imaging , nuclear magnetic resonance imaging , or magnetic resonance tomography is a medical imaging technique used in radiology to visualize detailed internal structures...
surgical robot that can perform both microsurgery
Microsurgery
Microsurgery is a general term for surgery requiring an operating microscope. The most obvious developments have been procedures developed to allow anastomosis of successively smaller blood vessels and nerves which have allowed transfer of tissue from one part of the body to another and...
and stereotaxy
Stereotaxy
Stereotaxy from stereo meaning solidity, and tactile meaning touch) refers to any technique that involves the recording and reproduction of three-dimensional haptic information or creating an illusion of depth to the sense of touch within an otherwise-flat surface...
.
Design
NeuroArm was designed to be image-guided and can perform procedures inside an MRIMagnetic resonance imaging
Magnetic resonance imaging , nuclear magnetic resonance imaging , or magnetic resonance tomography is a medical imaging technique used in radiology to visualize detailed internal structures...
. NeuroArm includes two remote detachable manipulators on a mobile base, a workstation and a system control cabinet. For biopsy-stereotaxy
Stereotaxy
Stereotaxy from stereo meaning solidity, and tactile meaning touch) refers to any technique that involves the recording and reproduction of three-dimensional haptic information or creating an illusion of depth to the sense of touch within an otherwise-flat surface...
, either the left or right arm is transferred to a stereotactic platform that attaches to the MR bore. The procedure is performed with image-guidance, as MR images are acquired in near real-time. The end-effectors interface with surgical tools which are based on standard neurosurgical instruments.
End-effectors are equipped with three-dimensional force-sensors, providing the sense of touch. The surgeon seated at the workstation controls the robot using force feedback hand controllers. The workstation recreates the sight and sensation of microsurgery by displaying the surgical site and 3D MRI displays, with superimposed tools. NeuroArm enables remote manipulation of the surgical tools from a control room adjacent to the surgical suite. It was designed to function within the environment of 1.5 and 3.0 tesla
Tesla (unit)
The tesla is the SI derived unit of magnetic field B . One tesla is equal to one weber per square meter, and it was defined in 1960 in honour of the inventor, physicist, and electrical engineer Nikola Tesla...
intraoperative MRI systems. As neuroArm is MR-compatible, stereotaxy can be performed inside the bore of the magnet with near real-time image guidance. NeuroArm possesses the dexterity to perform microsurgery, outside of the MRI system.
Telerobotic operations both inside and outside the magnet are performed using specialized tool sets based on standard neurosurgical instruments, adapted to the end effectors. Using these, NeuroArm is able to cut and manipulate soft tissue, dissect tissue planes, suture, biopsy, electrocauterize, aspirate and irrigate. NeuroArm is 3 foot (0.9144 m) tall and 2 foot (0.6096 m) wide, but it can be adjusted to fit any table height. The robot weighs 500 pounds (226.8 kg) and has two ambidextrous arms. It sits on caster
Caster
A caster is an undriven, single, double, or compound wheel that is designed to be mounted to the bottom of a larger object so as to enable that object to be easily moved...
s and can be easily rolled in and out of position. It has a fail-safe braking mechanism that secures it to the floor preventing any movement.
History
The project began in 2002 when DarylDaryl Seaman
Daryl Kenneth "Doc" Seaman, OC, AOE was a Canadian businessman. He was also involved in the sport of ice hockey as the owner of the Calgary Flames and on various ice hockey commissions. Seaman was elected to the Hockey Hall of Fame as a builder in 2010...
, B.J. and Don Seaman provided $2 million to begin design. Dr. Sutherland and his group established a collaboration with the Canadian space engineering company MacDonald Dettwiler and Associates
MacDonald Dettwiler
MacDonald, Dettwiler and Associates Ltd. is a Richmond, British Columbia-based Canadian aerospace, information services and products company, employing over 3000 people throughout Canada, the United States and the United Kingdom, under the MDA brand name....
(MDA). Close collaboration between MDA space robotic engineers, who built the Canadarm and Dextre, and University of Calgary physicians, nurses and scientists contributed to the design and development of NeuroArm. Official launch of the project was on April 17, 2007.
NeuroArm was designed to take full advantage of the imaging environment provided by intraoperative MRI. The ability to couple near real-time, high resolution images to robotic technologies provides the surgeon with image guidance, precision, accuracy and dexterity. MDA Engineers were immersed in the operating room to study typical tool and surgeon motions in order to use biomimicry for effective design of the computer-assisted surgical device. NeuroArm has been designed to replace the main neurosurgeon. The OR environment, personnel, surgical rhythm and instrumentation remain unchanged. The surgeon, sitting at the workstation, is provided a virtual environment that recreates the sight, sound and touch of surgery. Functions like tremor filtering and motion scaling were applied to increase precision and accuracy while functions like no-go zones and linear lock were applied to enhance safety. While surgical tools are near the patient's head the system is incapable of fully independent movement and is at all times slaved to the surgeon’s movement. Pre-planned automatic motions are used to move the robot arms away from the patient's head for manual tool exchange, and then return them to the original position and orientation.
External links
Videos
- Video in press release for NeuroArm unveiling, University of CalgaryUniversity of CalgaryThe University of Calgary is a public research university located in Calgary, Alberta, Canada. Founded in 1966 the U of C is composed of 14 faculties and more than 85 research institutes and centres.More than 25,000 undergraduate and 5,500 graduate students are currently...
, April 17, 2007