Xinben Hu

CSF cerebrospinal fluid CT computed tomography CT-VRT-3D reconstruction computed tomography employing volume rendering technique and 3D reconstruction EBL estimated blood loss GTR gross total resection MRI magnetic resonance imaging VAS Visual Analogue Scale 1 Introduction Schwannomas are the most common tumors in spinal canals, and part of them involves both intra and extra foramen during their growth [1-3]. Eden classified these tumors into four types, called dumbbell-shaped tumors [4].

Abstract Handheld robots offer accessible solutions with a short learning curve to enhance operator capabilities. However, their controllable degree-of-freedoms are limited due to scarce space for actuators. Inspired by muscle movements stimulated by nerves, we report a handheld time-share driven robot. It comprises several motion modules, all powered by a single motor. Shape memory alloy (SMA) wires, acting as “nerves”, connect to motion modules, enabling the selection of the activated module.