An open-source automated surgical instrument for microendoscope implantation

Gradient index (GRIN) lenses can be used to image deep brain regions otherwise inaccessible via standard optical imaging methods. Brain tissue aspiration before GRIN lens implantation is a widely adopted approach. However, typical brain tissue aspiration methods still rely on a handheld vacuum needle, which is subject to human error and low reproducibility. Therefore, a high-precision automated surgical instrument for brain tissue aspiration is desirable.

We developed a robotic surgical instrument that utilizes robotic control of a needle connected to a vacuum pump to aspirate brain tissue. The system was based on a commercial stereotaxic instrument, and the additional parts can be purchased off-the-shelf or Computer Numerical Control (CNC) machined. A MATLAB-based user-friendly graphical user interface (GUI) was developed to control the instrument.

We demonstrated the GRIN lens implantation procedure in the dorsal striatum utilizing our proposed surgical instrument and confirmed the surgical results by microscope after the implantation.

Compared to the traditional handheld method, the automatic tissue aspiration can be performed by interacting with GUI. The instrument was designed specifically for microendoscope implantation, but it can also be easily adapted for robotic craniotomy. This robotic surgical instrument can minimize human error, reduce training time, and greatly increase surgical precision.

Our robotic surgical instrument is an ideal solution for brain tissue aspiration prior to GRIN lens implantation. It will be useful for neuroscientists performing in vivo deep brain imaging using miniature microscope or two-photon microscope combined with microendoscopes.