Despite advantages from neurosurgical systems, achieving intuitive and safe collaboration with robot during the coarse positioning of instrument insertion end effector (IIEE) remains a critical issue. In this paper, we propose a novel non-contact hand-guided method for such advancement based on magnetic sensing. First, a wearable magnet band and a magnetic sensor are designed, based on which the magnetic localization is achieved for surgeon’s hand location detection. Second, a quadratic programming-based control is implemented, to guarantee the pose-based servo performance, higher rotational manipulability for IIEE fine alignment, and joint position&velocity limits avoidance. For evaluation, two experiments are designated and conducted. Results show that the magnetic localization algorithm can achieve < 4.7 mm and 2.6° errors in a dynamic path tracking test, which can provide an accurate magnet location for hand guidance. Moveover, workflow of the proposed solution in a brain biopsy scenario demonstrates its enhancement of IIEE rotational manipulability (11.6% increase at final configuration), and safety improvement of collision avoidance when other surgeon approaches for cannula delivery. This research contributes to enhanced intuitiveness and safety for surgeon-robot collaborative coarse positioning of IIEE in neurosurgery.

Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope MicroNeuro, designed to perform biopsies with dexterous surgical manipulation deep in the brain. Taking into account the uncertainty of the control model, an image-based visual servoing with online robot Jacobian estimation has been implemented to enhance motion accuracy. Furthermore, the application of model predictive control with constraints significantly bolsters the flexible robot’s ability to adaptively track mobile objects and resist external interference. Experimental results underscore that the proposed control system enhances motion stability and precision. Phantom testing substantiates its considerable potential for deployment in neurosurgery.