title: Adaptation of a hexapod-based robotic system for extended endoscope-assisted transsphenoidal skull base surgery.
abstract: OBJECTIVE
  To adapt a hexapod-based robotic system for use in extended endoscope-assisted transsphenoidal skull base surgery.
  
  
  METHODS
  A robotic system (Evolution 1, Universal Robot Systems, Schwerin, Germany) based on a hexapod design with an attached seventh axis is used as instrument holder. The instrument interface is operated via a joystick control. An endoscope is applied to the instrument interface, which is tracked by a navigation system (Stealth, Medtronic, USA).
  
  
  RESULTS
  The instrument holder was modified so that it could be applied in transsphenoidal surgery. Furthermore, translation and pivoting movements of the system were implemented, also a quick change between microscope and robotic-controlled endoscope was made possible. After extensive phantom testing two patients with large invasive pituitary adenomas were operated on using the robotic endoscope assistance during transsphenoidal surgery. The robotic assistance allowed the use of two additional instruments under endoscopic view. For example, drilling, suctioning, application of punches, as well as microsurgical tumor removal could be performed under endoscopic view.
  
  
  CONCLUSIONS
  A robotic system could be adapted for use in endoscope-assisted transsphenoidal skull base surgery allowing simultaneous use of two instruments under endoscopic view. This opens new possibilities to extend transsphenoidal skull base surgery.
authors.affiliation: Department of Neurosurgery, University Erlangen-Nürnberg, Erlangen, Germany. nimsky@nch.imed.uni-erlangen.de
authors.forename: Ch
authors.initials: Ch
authors.lastname: Nimsky
authors.forename: J
authors.initials: J
authors.lastname: Rachinger
authors.forename: H
authors.initials: H
authors.lastname: Iro
authors.forename: R
authors.initials: R
authors.lastname: Fahlbusch
mesh_terms: D000236:Adenoma / Q000601:surgery; D000368:Aged; D004724:Endoscopy; D004867:Equipment Design; D005260:Female; D006801:Humans; D008297:Male; D008875:Middle Aged; D038361:Neuronavigation / Q000295:instrumentation; D010911:Pituitary Neoplasms / Q000601:surgery; D012371:Robotics; D019291:Skull Base / Q000601:surgery*; D013100:Sphenoid Bone / Q000601:surgery*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D014584:User-Computer Interface