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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
Published on: January 7, 2019
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Towards accurate robot-assisted neuroendoscopy using an ergonomic handling interface and a lightweight robot
Summary
A new robot-assisted neuroendoscopy handling interface was developed for improved surgical precision. This interface allows for accurate tool manipulation, ensuring high targeting accuracy for delicate neurosurgical procedures.
Area of Science:
- Neurosurgery
- Robotics
- Medical Device Development
Background:
- Robot-assisted neuroendoscopy offers potential for enhanced surgical interaction.
- Controlling robot compliance is crucial for maintaining tool targeting accuracy.
Purpose of the Study:
- To design and assess a novel handling interface for robot-assisted neuroendoscopy.
- To ensure accurate tool manipulation and ergonomic integration for surgeons.
Main Methods:
- Developed a 7 Degrees of Freedom (DoF) lightweight robot tool holder.
- Integrated a clinically-used endoscope with the robot handling interface.
- Assessed tool insertion/retraction forces and targeting accuracy using an optical tracker.
Main Results:
- The handling interface allowed easy tool insertion/retraction with a measured force of 2 N.
- Accurate targeting was achieved with a mean error below 0.5 mm.
- Neurosurgeons provided very positive feedback on the interface's performance and ergonomics.
Conclusions:
- The developed handling interface is compact, ergonomic, and effective for robot-assisted neuroendoscopy.
- The system demonstrates potential for enhancing precision in neurosurgical interventions.
- Positive surgeon feedback supports further development and clinical application.
