THE DOMESTIC ROBOTIC STEREOTACTIC MANIPULATOR «ORBITA». NEUROSURGICAL OPERATING ROOM TESTS
Abstract
ANNOTATION: surgery robotization around the world is in active process. In neurosurgery, this process primarily develops in the direction of stereotaxis. The development of the first Russian robotic stereotactic manipulator «ORBITA» is currently underway.
OBJECTIVE: determination of the principle of operation, medical, technical requirements and general working characteristics, and also preparation for serial production of an automated manipulator for stereotactic brain surgery.
MATERIAL AND METHODS: an experimental sample of the robotic manipulator «ORBITA» has been developed, which is a compact, articulated structure consisting of several kinematic nodes with six degrees of freedom. The manipulator was tested on a phantom in a neurosurgical operating room. The manipulator is controlled using an external optical neuronavigation system.
RESULTS: the mechanical, medical and technical characteristics of the described robotic manipulator meet the requirements for manipulators of frameless navigation systems to enable stereotactic operations.
CONCLUSION: the characteristics of the device allow its use in all types of stereotactic operations on the brain, including biopsies, intracerebral implantation of electrodes, as well as stereotactic destruction of intracerebral tumors and subcortical structures in functional neurosurgery.
About the Authors
A. I. Kholyavin
N. P. Bechtereva Institute of the Human Brain of the Russian Academy of Sciences
Russian Federation
Russian Federation
St. Petersburg
V. O. Bondarenko
State Research Center of the Russian Federation — Concern CSRI Elektropribor, JSC
Russian Federation
Russian Federation
St. Petersburg
V. A. Peskov
N. P. Bechtereva Institute of the Human Brain of the Russian Academy of Sciences
Russian Federation
Russian Federation
St. Petersburg
Y. Z. Polonsky
N. P. Bechtereva Institute of the Human Brain of the Russian Academy of Sciences
Russian Federation
Russian Federation
St. Petersburg
Y. V. Belyaev
State Research Center of the Russian Federation — Concern CSRI Elektropribor, JSC
Russian Federation
Russian Federation
St. Petersburg
D. О. Epifanov
State Research Center of the Russian Federation — Concern CSRI Elektropribor, JSC
Russian Federation
Russian Federation
St. Petersburg
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Review
For citations:
Kholyavin A.I., Bondarenko V.O., Peskov V.A., Polonsky Y.Z., Belyaev Y.V., Epifanov D.О. THE DOMESTIC ROBOTIC STEREOTACTIC MANIPULATOR «ORBITA». NEUROSURGICAL OPERATING ROOM TESTS. Russian Neurosurgical Journal named after Professor A. L. Polenov. 2020;12(2):27-34. (In Russ.)
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