Abstract
Metallic tools such as graspers, forceps, spatulas, and clamps have been used in proximity to delicate neurological tissue and the risk of damage to this tissue is a primary concern for neurosurgeons. Novel soft robotic technologies have the opportunity to shift the design paradigm for these tools towards safer and more compliant, minimally invasive methods. Here, we present a pneumatically actuated, origami-inspired deployable brain retractor aimed at atraumatic surgical workspace generation inside the cranial cavity. We discuss clinical requirements, design, fabrication, analytical modeling, experimental characterization, and in-vitro validation of the proposed device on a brain model.
Highlights
New cases of brain tumors in 2021 are estimated to be up to 24,530 leading to 18,600 deaths in the US alone (Siegel et al, 2021)
In this paper we reported on the design, fabrication, modeling, and characterization of a novel soft robotic retraction tool for neurosurgical applications
Surgical workspace generation can be tuned through the controlled application or release of pressures, allowing for granular control of actuation in the brain
Summary
New cases of brain tumors in 2021 are estimated to be up to 24,530 leading to 18,600 deaths in the US alone (Siegel et al, 2021). Other research groups are focusing on robotic platforms for minimally invasive access to deep-seated brain lesions Such approaches consist in inserting instruments though the nostrils and navigating inside the brain, and are employed in specific applications of neurosurgery and skull base surgery (e.g., pituitary surgery, cranial base tumors, intraparenchymal lesions). I.e. displacement of neural and neurovascular structures to access deeper locations in the cranium or to create workspace for other surgical tools, is performed using straight rigid plastic or metal tools (i.e., retractors) (Assina et al, 2014) These instruments can generate excessive pressure on the anatomical structures during surgery and consequent tissue damage, leading to neurological and other functional impairments post-surgery (Zhong et al, 2003). Unlike a stent which is deployed and irreversibly expanded, the proposed robotic device can actively control its expansion and contraction, and is not intended for long term implantation
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