Development of a semi-active navigational system using a multiple degrees of freedom (DOF) deformable structure to manipulate surgical instruments in 3 dimensional space for neurosurgical applications

• Research unit: INNOSUISSE
• Project number: 8784.1;5 LSPP-LS

Short description (English)

Development of a semi-active navigational system using a multiple degrees of freedom (DOF) deformable structure to manipulate surgical instruments in 3 dimensional space for neurosurgical applications

Short description (French)

Development of a semi-active navigational system using a multiple degrees of freedom (DOF) deformable structure to manipulate surgical instruments in 3 dimensional space for neurosurgical applications

Abstract (English)

A surgeon utilizes multiple instruments during a surgical procedure, some of which are manipulated by an assistant. Such an approach has several drawbacks ranging from issues of cost to time efficiency and precision. Therefore, for years now, research groups are trying to develop mechanized assistants. Such solutions include simple fixture devices to more sophisticated robotic devices. They all have advantages and disadvantages, such as: cost, maintenance, flexibility, ease of use, installation requirements, etc. The EPFL LSRO proposed several years ago a semi-active approach to take full benefit of both techniques. The basic idea is to perform the global positioning using a passive structure i.e. a structure manipulated by hand by the surgeon or other surgical personnel. An accurate multiple DOF positioning system is mounted onto such a device. One of the major innovative aspects of this proposal is to rely on deformable structure technology to perform fine positioning. Using deformable structures provides accuracy, reproducibility and safety required for a surgical process. Moreover the approach proposed can readily function within the sterile constraints of a sterile surgical environment and does not require maintenance. Compared to a fully active approach (e.g. Robots),a much more compact and robust device can be developed with the proposed approach.

Abstract (French)

A surgeon utilizes multiple instruments during a surgical procedure, some of which are manipulated by an assistant. Such an approach has several drawbacks ranging from issues of cost to time efficiency and precision. Therefore, for years now, research groups are trying to develop mechanized assistants. Such solutions include simple fixture devices to more sophisticated robotic devices. They all have advantages and disadvantages, such as: cost, maintenance, flexibility, ease of use, installation requirements, etc. The EPFL LSRO proposed several years ago a semi-active approach to take full benefit of both techniques. The basic idea is to perform the global positioning using a passive structure i.e. a structure manipulated by hand by the surgeon or other surgical personnel. An accurate multiple DOF positioning system is mounted onto such a device. One of the major innovative aspects of this proposal is to rely on deformable structure technology to perform fine positioning. Using deformable structures provides accuracy, reproducibility and safety required for a surgical process. Moreover the approach proposed can readily function within the sterile constraints of a sterile surgical environment and does not require maintenance. Compared to a fully active approach (e.g. Robots),a much more compact and robust device can be developed with the proposed approach.