Related Experiment Video
Updated: Jun 18, 2025
06:24
A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement
Published on: May 11, 2020
8.8K
A Telescopic Tendon-Driven Needle Robot for Minimally Invasive Neurosurgery
Saeed Rezaeian1, Behnam Badie2, Jun Sheng1
1Department of Mechanical Engineering, University of California Riverside, Riverside, CA 92521, USA.
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
|July 31, 2024
Summary
This study introduces a novel steerable needle robot for minimally invasive neurosurgery. The robot achieves precise tip control and follow-the-leader motion, showing potential for brain surgery applications.
Area of Science:
- Robotics
- Medical Devices
- Neurosurgery
Background:
- Minimally invasive neurosurgery requires precise instrument control within confined spaces.
- Existing robotic systems may have limitations in dexterity and maneuverability for complex brain procedures.
Purpose of the Study:
- To design, characterize, and test a novel telescopic tendon-driven steerable needle robot.
- To evaluate the robot's ability for dexterous motion and precise tip following for neurosurgical applications.
Main Methods:
- The robot design incorporates a rigid outer tube and two telescopic, tendon-driven steerable tubes.
- Kinematic modeling, motion characterization, and open-loop control were performed.
- Follow-the-leader motion experiments were conducted to assess tip path accuracy.
Main Results:
- The steerable needle robot demonstrated dexterous motion capabilities.
- Open-loop kinematic control resulted in a robot tip position error of 0.92 mm.
- Follow-the-leader motion achieved an error of 1.1 mm.
Conclusions:
- The developed steerable needle robot offers unique motion abilities and a small footprint suitable for intracranial manipulation.
- This robotic system shows significant potential for advancing minimally invasive neurosurgery.
- Further development could enhance precision and expand applications within neurosurgical procedures.
