Endoscopic Endonasal Skull Base Surgery system

摘要

Endoscopic Endonasal Skull Base Surgery (ESBS) is one of the surgical methods to remove the tumor of pituitary. However, it is difficult to remove the entire tumor that develops above the skull with the current surgical instruments. In order to solve this problem, we are developing an end-effector with 5 degrees of freedom motion, a spherical manipulator that can adjust the position of the end-effector inside the human body from outside. In addition, the overall configuration was made as a master-slave type robot system, and efforts were made to enhance convenience.