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一些外科专业的常见手术技术，并且在某些领域占主导地位，但神经外科还没有看到这项技术在改善患者预后、加快恢复、缩短住院时间和降低脑内病变成本方面的好处。在工具尺寸小于或小于2mm的情况下，标准化腕关节滑轮系统的小型化已被证明是不可行的，因此迫切需要新的工具设计、驱动和安全感觉方法。我们的项目目标是利用先进的材料和新型的磁驱动，开发一种微型的新型多模态平台，用于脑室内神经外科机器人工具的驱动。

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.