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和在某些领域占主导地位的外科技术，但神经外科还没有看到这种技术在改善患者预后方面的好处，恢复更快，住院时间更短，并降低了大脑内病变的成本。在工具尺寸为2毫米或以下的情况下，将标准化手腕关节滑轮系统微型化已被证明是不可行的，迫切需要新的工具设计、驱动和安全目的的方法，如感觉。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，该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 becomethe 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 patientoutcomes with faster recovery, shorter hospital stays, and reduced costs for lesions within thebrain.Miniaturizing standardized wrist-joint pulley systems at tool sizes at or below 2 mm hasproved 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 aminiature novel multimodal platform for actuation in intraventricular neurosurgical robotic toolsusing advanced materials and novel magnetic actuation.