A Novel Handheld Robotic System for Endoscopic Neurosurgery: A Cadaver Pilot Study

Abstract

Neurosurgery has always been in need of adapting new technologies. Endoscopic Endonasal Transsphenoidal Surgery (EETS), a common minimally invasive neurosurgical technique, is especially in the need of innovation. This approach is performed via an anterior sphenoidotomy and aims at the removal of sellar and parasellar lesions with the use of an endoscope and rigid instruments [1]. Although a promising alternative to open brain-surgery, it comes with its limitations, namely the lack of instrument articulation and the constrained operative space of the nasal channel [2]. This work presents a novel handheld robotic instrument for endoscopic neurosurgery. The system is comprised of a series of articulated spherical-joint tendondriven 3𝑚𝑚 end-effectors, paired with an ergonomically designed handheld controller which does not require the shaft to be resting against a trocar-port. This first-of-itskind robotic instrument for neurosurgery was evaluated during a cadaver pilot study with preliminary results suggesting feasibility within a clinical context.