PURPOSE: The expanded endoscopic endonasal approach, a representative example of keyhole brain surgery, allows access to the pituitary gland and surrounding areas through the nasal and sphenoid cavities. Manipulating rigid instruments through these constrained spaces makes this approach technically challenging, and thus, a handheld robotic instrument could expand the surgeon's capabilities. In this study, we present an intuitive handle prototype for such a robotic instrument. METHODS: We have designed and fabricated a surgical instrument handle prototype that maps the surgeon's wrist directly to the robot joints. To alleviate the surgeon's wrist of any excessive strain and fatigue, the tool is mounted on the surgeon's forearm, making it parallel with the instrument's shaft. To evaluate the handle's performance and limitations, we constructed a surgical task simulator and compared our novel handle with a standard neurosurgical tool, with the tasks being performed by a consultant neurosurgeon. RESULTS: While using the proposed handle, the surgeon's average success rate was [Formula: see text], compared to [Formula: see text] when using a conventional tool. Additionally, the surgeon's body posture while using the suggested prototype was deemed acceptable by the Rapid Upper Limb Assessment ergonomic survey, while early results indicate the absence of a learning curve. CONCLUSIONS: Based on these preliminary results, the proposed handle prototype could offer an improvement over current neurosurgical tools and procedural ergonomics. By redirecting forces applied during the procedure to the forearm of the surgeon, and allowing for intuitive surgeon wrist to robot-joints movement mapping without compromising the robotic end effector's expanded workspace, we believe that this handle could prove a substantial step toward improved neurosurgical instrumentation.


    Access

    Download


    Export, share and cite



    Title :

    An intuitive surgical handle design for robotic neurosurgery.


    Contributors:
    Dimitrakakis, E (author) / Lindenroth, L (author) / Dwyer, G (author) / Aylmore, H (author) / Dorward, NL (author) / Marcus, HJ (author) / Stoyanov, D (author)

    Publication date :

    2021-05-24


    Remarks:

    International Journal of Computer Assisted Radiology and Surgery (2021) (In press).


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    WINDING ASSEMBLY WITH INTUITIVE HANDLE ACTUATION

    MCCABE ALLAN / BAKER MARTIN | European Patent Office | 2025

    Free access

    WINDING ASSEMBLY WITH INTUITIVE HANDLE ACTUATION

    MCCABE ALLAN / BAKER MARTIN | European Patent Office | 2023

    Free access

    Winding assembly with intuitive handle actuation

    ALLAN MCCABE / MARTIN BAKER | European Patent Office | 2023

    Free access

    Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery

    Weld, Alistair / Dyck, Michael / Klodmann, Julian et al. | German Aerospace Center (DLR) | 2022

    Free access