טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
Ph.D Thesis
Ph.D StudentHadas Ziso
SubjectRobot for Minimally Invasive Neurosurgery
DepartmentDepartment of Mechanical Engineering
Supervisors Full Professor Shoham Moshe
Professor Zaaroor Menashe


Abstract

The presented work describes a novel robotic system for minimally invasive neurosurgery, initially intended for the treatment of Multiforme Glioblastoma. The robotic system consists of a ~4 mm diameter external needle and a self-reassembled inner needle, carrying real-time detection and therapeutic tools. The robot performs the therapeutic procedure automatically according to a preoperative treatment plan based on MR or CT images, combined with intraoperative real-time detection of a tumor and local therapy, thus overcoming brain shift effect and avoiding damage to healthy brain tissue.

One of the main technological challenges of the project is the inner needle development. The inner needle passes through a shaped external needle, progressively exit laterally at 90-degree curve, and straighten upon exit. This needle should endure 90-degree, 3 mm curvature on one hand and maintain the required accuracy under lateral load while fully extended on the other hand. For that purpose, three optional mechanisms were considered: tube buckling under bending and straightening upon exit, a tensegrity mast, and a novel self-reassembled mechanism composed of magnetic bead chain.

Another challenge of the presented work involves harnessing suitable detection and therapeutic methods to the robotic system taking into account size and shape change limitations. Two diagnostic methods that meet the system specifications, both clinically and mechanically, were evaluated in this study: Electrical Impedance and 5-ALA (5-Aminolevulinic acid) induced fluorescence. The therapy is conducted using high intensity fiber optic diode laser.

Results demonstrate the robotic procedure, including real-time detection and laser therapy, registration and robotic needle motion.

(see movie at: http://www.robotics.technion.ac.il/courses/Advanced_Laboratory/movies/movie1.mp4