Accurate multi-robot targeting for keyhole neurosurgery based on external sensor monitoring.
Identifieur interne : 002090 ( Ncbi/Curation ); précédent : 002089; suivant : 002091Accurate multi-robot targeting for keyhole neurosurgery based on external sensor monitoring.
Auteurs : Mirko Daniele Comparetti [Italie] ; Alberto Vaccarella ; Ilya Dyagilev ; Moshe Shoham ; Giancarlo Ferrigno ; Elena De MomiSource :
- Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine [ 0954-4119 ] ; 2012.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Neuronavigation, Robotics.
- methods : Neuronavigation, Robotics.
- Algorithms, Humans, Models, Anatomic, Phantoms, Imaging.
Abstract
Robotics has recently been introduced in surgery to improve intervention accuracy, to reduce invasiveness and to allow new surgical procedures. In this framework, the ROBOCAST system is an optically surveyed multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system encompasses three robots, connected as a multiple kinematic chain (serial and parallel), totalling 13 degrees of freedom, and it is used to automatically align the probe onto a desired planned trajectory. The probe is then inserted in the brain, towards the planned target, by means of a haptic interface. This paper presents a new iterative targeting approach to be used in surgical robotic navigation, where the multi-robot chain is used to align the surgical probe to the planned pose, and an external sensor is used to decrease the alignment errors. The iterative targeting was tested in an operating room environment using a skull phantom, and the targets were selected on magnetic resonance images. The proposed targeting procedure allows about 0.3 mm to be obtained as the residual median Euclidean distance between the planned and the desired targets, thus satisfying the surgical accuracy requirements (1 mm), due to the resolution of the diffused medical images. The performances proved to be independent of the robot optical sensor calibration accuracy.
PubMed: 22720387
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Part H, Journal of engineering in medicine</title><idno type="ISSN">0954-4119</idno><imprint><date when="2012" type="published">2012</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Humans</term><term>Models, Anatomic</term><term>Neuronavigation (instrumentation)</term><term>Neuronavigation (methods)</term><term>Phantoms, Imaging</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Neuronavigation</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Neuronavigation</term><term>Robotics</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Humans</term><term>Models, Anatomic</term><term>Phantoms, Imaging</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Robotics has recently been introduced in surgery to improve intervention accuracy, to reduce invasiveness and to allow new surgical procedures. In this framework, the ROBOCAST system is an optically surveyed multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system encompasses three robots, connected as a multiple kinematic chain (serial and parallel), totalling 13 degrees of freedom, and it is used to automatically align the probe onto a desired planned trajectory. The probe is then inserted in the brain, towards the planned target, by means of a haptic interface. This paper presents a new iterative targeting approach to be used in surgical robotic navigation, where the multi-robot chain is used to align the surgical probe to the planned pose, and an external sensor is used to decrease the alignment errors. The iterative targeting was tested in an operating room environment using a skull phantom, and the targets were selected on magnetic resonance images. The proposed targeting procedure allows about 0.3 mm to be obtained as the residual median Euclidean distance between the planned and the desired targets, thus satisfying the surgical accuracy requirements (1 mm), due to the resolution of the diffused medical images. The performances proved to be independent of the robot optical sensor calibration accuracy.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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