In recent years, new surgical tools have been designed to improve treatment results and lower patient trauma. Nevertheless, the dexterity and accuracy required for the positioning of new tools are often unreachable, if surgeons are not assisted by suitable systems. Significant advantages are derived from the introduction of computer and robot technologies. For that reason, the interaction between robotic systems and surgeons today is producing new interest worldwide both in medical and engineering fields. In particular, medical robotics has found fruitful ground in neurosurgical applications, since the high functional density of the central nervous system requires strict accuracy constraints on tool positioning. As a matter of fact, the major benefits of robots, such as precision, accuracy and repeatability, make them ideal as neurosurgeons’ assistants. This paper presents a master-slave haptic robotic system for minimally invasive neurosurgery, which can aid surgeons in performing safer and more accurate stereotactic neurosurgical treatments. The design of the proposed system is based on LANS (Linear Actuator for NeuroSurgery), which has been developed by our Research Group. Experimental test aimed at showing the added value of the DAANS system over its predecessor, the effectiveness of conformational caps and of the added rotational degree of freedom are scheduled for the upcoming months.

中文翻译：

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用于神经外科的主从触觉系统

近年来，已经设计了新的外科工具来改善治疗效果并降低患者的创伤。然而，如果没有合适的系统协助外科医生，定位新工具所需的灵活性和准确性往往无法达到。计算机和机器人技术的引入带来了显着的优势。因此，当今机器人系统与外科医生之间的互动正在全世界引起医学和工程领域的新兴趣。特别是，由于中枢神经系统的高功能密度要求对工具定位进行严格的精度限制，因此医疗机器人技术已在神经外科应用中找到了丰硕的成果。实际上，机器人的主要优势（例如精度，准确性和可重复性）使它们成为神经外科医生的助手的理想选择。本文介绍了一种用于微创神经外科手术的主从触觉机器人系统，该系统可以帮助外科医生进行更安全，更准确的立体定向神经外科手术治疗。拟议系统的设计基于我们研究小组开发的LANS（用于神经外科手术的线性执行器）。计划在接下来的几个月中进行旨在证明DAANS系统比其前身具有附加值，构形帽的有效性以及附加的旋转自由度的实验测试。拟议系统的设计基于我们研究小组开发的LANS（用于神经外科手术的线性执行器）。计划在接下来的几个月中进行旨在证明DAANS系统比其前身具有附加值，构形帽的有效性以及附加的旋转自由度的实验测试。拟议系统的设计基于我们研究小组开发的LANS（用于神经外科手术的线性执行器）。计划在接下来的几个月中进行旨在证明DAANS系统比其前身具有附加值，构形帽的有效性以及附加的旋转自由度的实验测试。