Resection of Pituitary Lesions in a Phantom Model using Concentric Tube Robots with Endoscopic Visualization

Abstract

Introduction: Operation at the skull base possesses a multitude of unique challenges for access to and successful treatment of a wide variety of pathology. These include, but are not limited to, a deep operative field and narrow corridor, inadequate lighting at depth, and a suboptimal linear path that avoids vital structures. Use of robotics to address these issues has been limited because of the rigid nature and large size of the systems currently available. To address these problems, we use a robot with a telescoping tool shaft that can bend and elongate called a concentric tube robot. We use this robot for experiments in a phantom model of pituitary adenoma to demonstrate how this unique technology to overcome many of the aforementioned current limitations. This robot is thin, flexible, and is computer driven, which allows for motion scaling, image guidance, and other benefits of robotic surgery.