Development and preliminary assessment of a robotic platform for neuroendoscopy based on a lightweight robot.

Background: Ventriculostomy is a widely performed neurosurgical procedure; some risk factors can be mitigated by computer/robot-assisted approaches. Platforms fostering synergistic robot-surgeon integration are pursued, for which lightweight robots with compliant controlled joints must be assessed (because compliance hampers accuracy).

Methods: We developed a platform encompassing, in particular, a lightweight robot and an optical tracker also used to enhance robot accuracy.

Towards accurate robot-assisted neuroendoscopy using an ergonomic handling interface and a lightweight robot.

We considered a robot-assisted neuroendoscopy, and we developed a handling interface for linking a clinically-used endoscope to a lightweight robot (tool holder) with 7 DoFs. Such a robot holds potential for soft interaction with the surgeon, yet its intrinsic compliance must be suitably tamed not to lose tool targeting accuracy. Starting from practical specifications by neurosurgeons, we designed, fabricated and preliminarily assessed a compact and ergonomic handling interface.