title: A Haptic Guided Robotic System for Endoscope Positioning and Holding.
abstract: OBJECTIVE
  To determine the feasibility, advantages, and disadvantages of using a robot for holding and maneuvering the endoscope in transnasal transsphenoidal surgery.
  
  
  METHODS
  The system used in this study was a Stewart Platform based robotic system that was developed by Kocaeli University Department of Mechatronics Engineering for positioning and holding of endoscope. After the first use on an artificial head model, the system was used on six fresh postmortem bodies that were provided by the Morgue Specialization Department of the Forensic Medicine Institute (Istanbul, Turkey).
  
  
  RESULTS
  The setup required for robotic system was easy, the time for registration procedure and setup of the robot takes 15 minutes. The resistance was felt on haptic arm in case of contact or friction with adjacent tissues. The adaptation process was shorter with the mouse to manipulate the endoscope. The endoscopic transsphenoidal approach was achieved with the robotic system. The endoscope was guided to the sphenoid ostium with the help of the robotic arm.
  
  
  CONCLUSIONS
  This robotic system can be used in endoscopic transsphenoidal surgery as an endoscope positioner and holder. The robot is able to change the position easily with the help of an assistant and prevents tremor, and provides a better field of vision for work.
authors.affiliation: Kocaeli University, School of Medicine, Department of Neurosurgery, Kocaeli, Turkey and Kocaeli University, Pituitary Research Center, Kocaeli, Turkey.
authors.forename: Burak
authors.initials: B
authors.lastname: Cabuk
authors.forename: Savas
authors.initials: S
authors.lastname: Ceylan
authors.forename: Ihsan
authors.initials: I
authors.lastname: Anik
authors.forename: Mehtap
authors.initials: M
authors.lastname: Tugasaygi
authors.forename: Selcuk
authors.initials: S
authors.lastname: Kizir
mesh_terms: D001696:Biomechanical Phenomena; D002102:Cadaver; D004210:Dissection; D019723:Endoscopes; D004724:Endoscopy / Q000295:instrumentation*; D005240:Feasibility Studies; D006801:Humans; D008953:Models, Anatomic; D009296:Nasal Cavity / Q000601:surgery; D019635:Neurosurgical Procedures / Q000295:instrumentation*; D012371:Robotics; D013100:Sphenoid Bone / Q000601:surgery