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<p>Minimally invasive neurosurgical procedures are widely popular for the excision of deep-seated brain tumours and skull-base lesions. However, the limited maneuverability of the instruments due to highly confined routes and spaces is a challenge for the neurosurgeons. Even robotic arm-based interventions are difficult to implement as these procedures typically require frequent tool changes. Therefore, a combination of human dexterity and robotic intervention can be a good alternative. Accordingly, we have developed a dedicated, robotically manipulated hand-held instrument prototype that could easily maneuver in confined surgical environments. The manipulator is a continuum-type robot developed by alternate stacking of stiff and flexible discs, actuated by tendon wires attached to a high torque reduction motor. The manipulator mechanics were simulated using Cosserat-rod theory and validated through finite element analysis, physical experiments with calibrated weights. The manipulator was then integrated with a hand-held operating unit and the functionality was tested in a neuro-endo-trainer, followed by functional validation on a human cadaver head. The simplistic design and compact actuation unit of the prototype exhibited ease of fabrication, enhanced maneuverability in confined spaces and a universal appeal to the surgeons. The prototype demonstrated a maximum tip angle of 42.2° under suspended weight of 2.943&#xa0;N, and successfully supported payloads up to 50&#xa0;g without structural damage. Functional trials in a neuro-endo-trainer and cadaver confirmed superior maneuverability and access compared to rigid instruments, enabling smooth approach to extended or off-axis skull base regions. As such, the presented manipulator meets key design criteria for a practical, hand-held tool in minimally invasive neurosurgery and serves as a platform for future clinical translation.</p>

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A compact hand-held continuum manipulator for minimally invasive neurosurgery

  • 期刊论文

  • 发表日期：

    2025年12月5日

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  • Rajdeep Singh,
  • Sreejath Sivaj,
  • Ramandeep Singh,
  • Anuj Saini,
  • Chander Sen,
  • Sunil Jha,
  • Subir Kumar Saha,
  • Ashish Suri

摘要

Minimally invasive neurosurgical procedures are widely popular for the excision of deep-seated brain tumours and skull-base lesions. However, the limited maneuverability of the instruments due to highly confined routes and spaces is a challenge for the neurosurgeons. Even robotic arm-based interventions are difficult to implement as these procedures typically require frequent tool changes. Therefore, a combination of human dexterity and robotic intervention can be a good alternative. Accordingly, we have developed a dedicated, robotically manipulated hand-held instrument prototype that could easily maneuver in confined surgical environments. The manipulator is a continuum-type robot developed by alternate stacking of stiff and flexible discs, actuated by tendon wires attached to a high torque reduction motor. The manipulator mechanics were simulated using Cosserat-rod theory and validated through finite element analysis, physical experiments with calibrated weights. The manipulator was then integrated with a hand-held operating unit and the functionality was tested in a neuro-endo-trainer, followed by functional validation on a human cadaver head. The simplistic design and compact actuation unit of the prototype exhibited ease of fabrication, enhanced maneuverability in confined spaces and a universal appeal to the surgeons. The prototype demonstrated a maximum tip angle of 42.2° under suspended weight of 2.943 N, and successfully supported payloads up to 50 g without structural damage. Functional trials in a neuro-endo-trainer and cadaver confirmed superior maneuverability and access compared to rigid instruments, enabling smooth approach to extended or off-axis skull base regions. As such, the presented manipulator meets key design criteria for a practical, hand-held tool in minimally invasive neurosurgery and serves as a platform for future clinical translation.