Conceptualization of the Construction of a Device for Measuring Forces and Torques during Neurosurgical Procedures
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Conceptualization of the Construction of a Device for Measuring Forces and Torques during Neurosurgical Procedures M. A. Solovyev1*, A. A. Vorotnikov1, A. A. Grin2,3,4, D. D. Klimov3, Yu. V. Poduraev1, and V. V. Krylov2,3,5
We describe here the conceptualization of the construction of a multifunctional device providing for measurement of forces and torques arising during various interactions of interchangeable neurosurgical instruments with var ious tissues during neurosurgical procedures. The process of designing interchangeable surgical instruments for transpedicular vertebral fusion is discussed. The design of the multifunctional device with a multicomponent force/torque sensor and data processing system is presented.
Introduction Neurosurgery is currently undergoing qualitative changes associated with the use of mechatronic and robotic systems. Providing levels of accuracy which can not be achieved using manual methods, these systems support the transition to minimally invasive surgical methods. This approach significantly reduces the trauma imposed on patients, thus reducing the risk of developing postoperative complications and giving qualitatively bet ter levels of safety and accelerating the rehabilitation of patients [13]. Several systems have already been devel oped, some in clinical use and some at the testing stage [46]. In addition, devices simplifying various stages of neurosurgical procedures have also been developed; for example, a mechatronic instrumentholding device maintaining the instruments in position relative to the operating field for their subsequent accurate surgical introduction into the patient’s living tissue [7]. Given patients’ high level of need for increased treatment quali 1
Moscow State University of Technology “STANKIN”, Moscow, Russia; Email: [email protected] 2 Sklifosovsky Research Institute of Emergency Medicine, Moscow, Russia. 3 A. I. Evdokimov Moscow State University of Medicine and Dentistry, Moscow, Russia. 4 Moscow Healthcare Department, Moscow, Russia. 5 Ministry of Health of the Russian Federation, Moscow, Russia. * To whom correspondence should be addressed.
ty and safety, the requirements of these systems are con stantly increasing. Design therefore has to include improved medical robotic and mechatronic systems. One area in which improvements in the parameters of robotic and mechatronic systems are being made is neurosurgery. Because of the great complexity of neurosurgical proce dures and the resulting iatrogenic complications, there is a need to develop ever more effective robotic medical sys tems. The design of neurosurgical robotic systems is a complex process requiring large financial and time investments. The development of such systems is associ ated with the scientific challenge of determining the geo metrical parameters of the design. Selection is difficult because of the variety of factors determining the operat ing characteristics of robotic systems. These factors include the forces and torques arising in interactions between various s
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