NeuroArm

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.^[1]

Design

NeuroArm was designed to be image-guided and can perform procedures inside an MRI. 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.^[2] 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 feet (0.9 m) tall and 2 feet (0.6 m) wide, but it can be adjusted to fit any table height. The robot weighs 500 pounds (230 kg) and has two ambidextrous arms.^[3] It sits on casters 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 Daryl, 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).^[4] 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.^[5]

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.^[6] 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.

References

1. ^ Pandya, Shawna; Motkoski, Jason W., Serrano-Almeida, Cesar, Greer, Alexander D., Latour, Isabelle, Sutherland, Garnette R. (1 December 2009). "Advancing neurosurgery with image-guided robotics". Journal of Neurosurgery 111 (6): 1141–1149. doi:10.3171/2009.2.JNS081334. http://thejns.org/doi/abs/10.3171/2009.2.JNS081334?url_ver=Z39.88-2003&rfr_id=ori:rid:crossref.org&rfr_dat=cr_pub%3dpubmed. Retrieved 2011-05-04. 
2. ^ "Canadian robot does better brain surgery". USA Today. 2007-04-17. http://www.usatoday.com/tech/news/robotics/2007-04-17-robot-brain-surgeon_N.htm. Retrieved 2011-05-04. 
3. ^ Jackson, Brian (2008-04-02). "Canadian robot set to perform brain surgery". IT Business. http://www.itbusiness.ca/it/client/en/home/News.asp?id=47785. Retrieved 2011-05-04. 
4. ^ "Robot set to revolutionize brain surgery". CTV. 2007-04-17. http://www.ctv.ca/CTVNews/TopStories/20070417/surgical_robot_070417/. Retrieved 2011-05-04. 
5. ^ "neuroArm - World’s first image-guided surgical robot to enhance accuracy and safety of brain surgery". University of Calgary. http://www.ucalgary.ca/news/april2007/neuroarm. Retrieved 2011-05-03. 
6. ^ Dawn, Walton (2007-04-17). "As a matter of fact, it IS rocket science". Globe and Mail. http://www.theglobeandmail.com/life/article753999.ece. Retrieved 2011-05-04. 

External links

• Project neuroArm
• Seaman Family MR Research Centre

Videos

• Video in press release for NeuroArm unveiling, University of Calgary, April 17, 2007

Related patents

• Canadian Patent 2246369 Surgical procedure with magnetic resonance imaging
• US Patent 5,735,278 (at USPTO) Surgical procedure with magnetic resonance imaging
• US Patent 5,735,278 (at Google) Surgical procedure with magnetic resonance imaging