Magnetically actuated dexterous tools for minimally invasive operation inside the brain.

Area of Science:

• Neurosurgery
• Medical Robotics
• Minimally Invasive Surgery

Background:

• Deep-seated brain tumor removal and epilepsy surgery require technically demanding craniotomies, posing significant risks and morbidity.
• Neuroendoscopic surgery offers reduced risk via small incisions but is limited by current straight, rigid endoscopic tools lacking dexterity.
• Existing neurosurgical tools lack the maneuverability needed for effective neuroendoscopic procedures.

Purpose of the Study:

• To develop and evaluate a class of magnetically actuated, wristed robotic neurosurgical tools for neuroendoscopic applications.
• To assess the feasibility of these miniaturized tools for minimally invasive resection and cutting tasks in the brain.
• To demonstrate the potential of wireless magnetic tools for clinical neurosurgical procedures.

Main Methods:

• Designed and fabricated three magnetic tools (<3.2 mm diameter) with embedded magnets for wireless actuation: a 2-DOF wristed gripper, a 1-DOF pivoting scalpel, and a 1-DOF twisted string-actuated forceps.
• Evaluated tool feasibility through experimental tests on a silicone brain phantom for simulated tumor removal and epilepsy surgery tasks.
• Integrated magnetic end effectors with a concentric tube robot for in vivo experiments on piglets using a hybrid steerable surgical robotic system.

Main Results:

• The magnetic tools successfully reached target areas in the brain phantom, demonstrating capability for simulated tumor resection and tissue severing.
• In vivo experiments on piglets showed the wireless magnetic tools could perform essential neurosurgical tasks, including gripping, cutting, and biopsy on living brain tissue.
• The tools proved effective in navigating narrow corridors and executing precise movements within the brain.

Conclusions:

• Magnetically actuated, wristed robotic tools are feasible for neuroendoscopic surgery, offering enhanced dexterity and maneuverability.
• These wireless tools have the potential to significantly reduce the risks and morbidity associated with current deep-seated brain surgeries.
• The developed tools show promise for future clinical applications in minimally invasive neurosurgery.