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Assembly and operation of an open-source, computer numerical controlled (CNC) robot for performing cranial microsurgical procedures.
Nature Protocols ( IF 13.1 ) Pub Date : 2020-05-13 , DOI: 10.1038/s41596-020-0318-4
Mathew L Rynes 1 , Leila Ghanbari 2 , Daniel Sousa Schulman 2 , Samantha Linn 2 , Michael Laroque 3 , Judith Dominguez 2 , Zahra S Navabi 2 , Peter Sherman 2 , Suhasa B Kodandaramaiah 1, 2
Affiliation  

Cranial microsurgery is an essential procedure for accessing the brain through the skull that can be used to introduce neural probes that measure and manipulate neural activity. Neuroscientists have typically used tools such as high-speed drills adapted from dentistry to perform these procedures. As the number of technologies available for neuroscientists has increased, the corresponding cranial microsurgery procedures to deploy them have become more complex. Using a robotic tool that automatically performs these procedures could standardize cranial microsurgeries across neuroscience laboratories and democratize the more challenging procedures. We have recently engineered a robotic surgery platform that utilizes principles of computer numerical control (CNC) machining to perform a wide variety of automated cranial procedures. Here, we describe how to adapt, configure and use an inexpensive desktop CNC mill equipped with a custom-built surface profiler for performing CNC-guided microsurgery on mice. Detailed instructions are provided to utilize this 'Craniobot' for performing circular craniotomies for coverslip implantation, large craniotomies for implanting transparent polymer skulls for cortex-wide imaging access and skull thinning for intact skull imaging. The Craniobot can be set up in <2 weeks using parts that cost <$1,500, and we anticipate that the Craniobot could be easily adapted for use in other small animals.

中文翻译:

组装和操作用于执行颅骨显微外科手术的开源计算机数控 (CNC) 机器人。

颅骨显微外科手术是通过颅骨进入大脑的重要手术,可用于引入测量和操纵神经活动的神经探针。神经科学家通常使用牙科高速钻头等工具来执行这些手术。随着神经科学家可用的技术数量不断增加,部署这些技术的相应颅骨显微外科手术也变得更加复杂。使用自动执行这些程序的机器人工具可以标准化神经科学实验室的颅骨显微外科手术,并使更具挑战性的程序民主化。我们最近设计了一个机器人手术平台,该平台利用计算机数控 (CNC) 加工原理来执行各种自动化颅脑手术。这里,我们描述了如何调整、配置和使用配备定制表面轮廓仪的廉价台式数控铣床,用于对小鼠进行数控引导的显微手术。提供了详细的说明,以利用该“颅骨机器人”进行用于盖玻片植入的圆形颅骨切除术、用于植入透明聚合物头骨以进行全皮层成像的大型颅骨切除术以及用于完整颅骨成像的颅骨减薄术。Craniobot 可以在不到 2 周内使用成本低于 1,500 美元的部件进行设置,并且我们预计 Craniobot 可以轻松适应其他小动物。提供了详细的说明,以利用该“颅骨机器人”进行用于盖玻片植入的圆形颅骨切除术、用于植入透明聚合物头骨以进行全皮层成像的大型颅骨切除术以及用于完整颅骨成像的颅骨减薄术。Craniobot 可以在不到 2 周内使用成本低于 1,500 美元的部件进行设置,并且我们预计 Craniobot 可以轻松适应其他小动物。提供了详细的说明,以利用该“颅骨机器人”进行用于盖玻片植入的圆形颅骨切除术、用于植入透明聚合物头骨以进行全皮层成像的大型颅骨切除术以及用于完整颅骨成像的颅骨减薄术。Craniobot 可以在不到 2 周内使用成本低于 1,500 美元的部件进行设置,并且我们预计 Craniobot 可以轻松适应其他小动物。
更新日期:2020-05-13
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