Rotitome-G: Principles and design concept of experimental compliant continuum robotic microsurgical endoscopic sarcotome for pixel/voxel-level target access neurosurgery

Harjeet Singh Gandhi

doi:10.24297/ijct.v23i.9549

Authors

Harjeet Singh Gandhi Hamilton Health Sciences, Ontario

DOI:

https://doi.org/10.24297/ijct.v23i.9549

Keywords:

Motion path planning, Micro-Biomimetic systems, Surgical robotics, Flexible endoscope, Pixelectomy, Optoelectronics, Neuroendoscopy, Neurosurgery

Abstract

The practice of minimal access surgery is widely accepted, and it has become prevalent with improved endoscope design. The traditional microscope in neurosurgery is gradually being challenged by the neuro-endoscope for its direct co-axial vision and direct illumination of the deep set subcortical pathology. The conceptualized design of Rotitome-G is based on compliant continuum robotic system. The system is a biomimicry of muscular hydrostat anatomy of the elephant trunk, a plant tendril, and many similar structures in the animal world with an infinite degree of freedom. The article describes the functional anatomy of these structures and the extensor expansion of the human finger as applied to the construction and implementation of the Rotitome-G. This flexible microsurgical endoscope integral to its design has unique cutting tool versions and multiple assistive tools passed through single ‘target access’ burr hole aperture. It is navigable within the surgical space co-relative to the image space to increase precision and improve the volume of tumour resection. The current study is theoretical and further work is in progress to assess its surgical capabilities to bring it to the clinical arena.

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