Design and Development Of A Flexible Robotic Operative Microscope For Neurosurgical Applications

The neurosurgical operative microscope is primarily designed with an aim to enhance the range of view for neurosurgeons during surgical practices. The existing surgical tools do not allow an angular field of view, thereby limiting depth information, which is critical for neurosurgical analysis and any further surgical actions. The proposed neurosurgical setup offers 4 degrees of freedom, two translational and two rotational motions, enabling enhanced depth information of the specimen under investigation. The flexible probe with an endoscopy camera was built in the form of a continuum of 3D printed plastic hollow structures that rest on top of each other. The hollow structures were configured to a hemispherical shape at the top, to allow easy sliding against the other homogeneous entity forming a probe. A set of three cables connecting each individual structure offer confined angular movement in 3D space, and is repeated for all structures, to offer flexibility in the entire sequence of probe. The cables were connected to stepper motors to complete the pulley system design and offer controlled probe curvature ability to the device. A micro-controller was used for controlling the pulley systems and an additional power supply unit was integrated to operate motors and their drivers. The developed microscopy tool was utilized to view 15 human cadaver brain dissections and report first-hand information on the usage of the flexible robotic operating microscope tool and the significance of the curvature scope. An interface to move the probe in different directions was developed and introduced to the investigator for performing brain dissection. In addition, angular re-positioning of the probe to regain old probe view on a specific region was also designed in the novel operating microscope device. The novel real-time microscope design is considered a step forward to precision robotic surgery, which is regarded to immensely benefit mankind.