Steady Hand Guided Aneurysm Clip Applier

Steady hand guidance provides high accuracy motion while keeping the surgeon in contact with the surgical instrument. Force sensors are applied between the instrument and the robot, and as the surgeon applies forces to the instrument, the robot move accordingly. Tremor reduction, force scaling, and virtual fixtures can be applied to enhance control. This application uses steady hand guidance to precisely place brain aneurysm clips. The system was demonstrated and received good feedback at the CNS Conference in Denver, CO.

Steady Hand Guided Aneurysm Clip Applier