Novel Multimodal Sensing and Actuation Mechanisms for Intra-Ventricular Neurosurgery Robotic Tools

虽然包括机器人在内的微创内窥镜辅助手术已经成为几个外科专科的常见且在某些领域占主导地位的外科技术，但**神经外科并没有看到这项技术在改善患者**结果方面的好处**恢复更快，住院时间更短，**大脑内病变的成本更低。*将工具尺寸为2毫米或以下的标准化手腕关节滑轮系统小型化已被证明**是不可行的，迫切需要新的方法来设计工具，**驱动，以及出于安全目的，感觉。我们的项目目标是开发一种用于脑室内神经外科机器人工具的**微型新型多模式驱动平台**，使用先进的材料和新型的磁驱动。

While minimally invasive endoscopic assisted procedures including robotics, have become**the common and in some areas dominant surgical technology for several surgical specialties,**Neurosurgery has not seen the benefits of this technology in terms of improved patient**outcomes with faster recovery, shorter hospital stays, and reduced costs for lesions within the**brain.****Miniaturizing standardized wrist-joint pulley systems at tool sizes at or below 2 mm has**proved infeasible, and there is a compelling need for new approaches to tool design,**actuation, and for safety purposes, sensation. Our project goal is the development of a**miniature novel multimodal platform for actuation in intraventricular neurosurgical robotic tools**using advanced materials and novel magnetic actuation.