A compact hand-held continuum manipulator for minimally invasive neurosurgery

Area of Science:

• Neurosurgery
• Robotics
• Medical Devices

Background:

• Minimally invasive neurosurgery faces challenges with instrument maneuverability in confined spaces.
• Existing robotic systems often require frequent tool changes, hindering deep-seated tumor and skull-base lesion excision.

Purpose of the Study:

• To develop and validate a robotically manipulated hand-held instrument prototype for enhanced maneuverability in minimally invasive neurosurgery.
• To address the limitations of rigid instruments and complex robotic setups in deep surgical environments.

Main Methods:

• Designed a continuum-type robot manipulator using stacked stiff and flexible discs, actuated by tendon wires.
• Simulated manipulator mechanics using Cosserat-rod theory and validated with finite element analysis and physical experiments.
• Integrated the prototype with a hand-held unit and tested functionality in a neuro-endo-trainer and human cadaver head.

Main Results:

• The prototype demonstrated a maximum tip angle of 42.2° and supported payloads up to 50g.
• Functional trials confirmed superior maneuverability and access to confined and off-axis skull base regions compared to rigid instruments.
• The design exhibited ease of fabrication and a compact actuation unit.

Conclusions:

• The developed hand-held manipulator prototype offers enhanced maneuverability for minimally invasive neurosurgery.
• It provides a practical solution for accessing challenging deep-seated brain tumors and skull-base lesions.
• The prototype serves as a viable platform for future clinical translation in neurosurgical interventions.