A Haptic Guided Robotic System for Endoscope Positioning and Holding

Area of Science:

• Neurosurgery
• Robotics
• Medical Devices

Background:

• Transnasal transsphenoidal surgery (TTSS) is a minimally invasive approach.
• Endoscope manipulation can be challenging, potentially affecting surgical outcomes.
• Robotic assistance may enhance precision and control during endoscopic procedures.

Purpose of the Study:

• To evaluate the feasibility, advantages, and disadvantages of a robotic system for endoscope handling in TTSS.
• To assess the system's performance in positioning and maneuvering the endoscope.

Main Methods:

• A Stewart Platform-based robotic system was developed for endoscope positioning and holding.
• Initial testing was performed on an artificial head model.
• The system was subsequently used in six fresh postmortem human subjects.

Main Results:

• The robotic system setup was straightforward, with a registration and setup time of 15 minutes.
• Haptic feedback was provided upon contact with adjacent tissues.
• The robotic system successfully facilitated the endoscopic transsphenoidal approach, guiding the endoscope to the sphenoid ostium.

Conclusions:

• The developed robotic system is a viable endoscope positioner and holder for endoscopic transsphenoidal surgery.
• It offers benefits such as tremor reduction and improved field of vision.
• The system allows for easy position adjustments with assistant support.