title: HelixFlex: bioinspired maneuverable instrument for skull base surgery.
abstract: Endoscopic endonasal surgery is currently regarded as the 'gold standard' for operating on pituitary gland tumors, and is becoming more and more accepted for treatment of other skull base lesions. However, endoscopic surgical treatment of most skull base pathologies, including certain pituitary tumors, is severely impaired by current instruments lack of maneuverability. Especially, gaining access to, and visibility of, difficult-to-reach anatomical corners without interference with surrounding neurovascular structures or other instruments, is a challenge. In this context there is the need for instruments that are able to provide a stable shaft position, while both the orientation and the position of the end-effector can be independently controlled. Current instruments that allow for this level of maneuverability are usually mechanically complex, and hence less suitable for mass production. This study therefore focuses on the development of a new actuation technique that allows for the required maneuverability while reducing the construction complexity. This actuation technique, referred to as multi-actuation, integrates multiple cable routings into a single steerable structure. Multi-actuation has been successfully integrated and tested in a handheld prototype instrument called HelixFlex. HelixFlex contains a 4 degrees of freedom maneuverable 5.8 mm (diameter) tip and shows promising results concerning its maneuverability and potential rigidity.
authors.affiliation: The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.
authors.forename: Giada
authors.initials: G
authors.lastname: Gerboni
authors.forename: Paul W J
authors.initials: PW
authors.lastname: Henselmans
authors.forename: Ewout A
authors.initials: EA
authors.lastname: Arkenbout
authors.forename: Wouter R
authors.initials: WR
authors.lastname: van Furth
authors.forename: Paul
authors.initials: P
authors.lastname: Breedveld
mesh_terms: D040761:Biomimetic Materials / Q000737:chemistry; D032701:Biomimetics / Q000295:instrumentation*; D055119:Elastic Modulus; D019723:Endoscopes; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D008297:Male; D057605:Natural Orifice Endoscopic Surgery / Q000295:instrumentation*; D019635:Neurosurgical Procedures / Q000295:instrumentation*; D010027:Osteotomy / Q000295:instrumentation*; D019291:Skull Base / Q000601:surgery*