NeuroPlan: A Surgical Planning Toolkit for an MRI-Compatible Stereotactic Neurosurgery Robot.

Autor:	Tavakkolmoghaddam F; Robotics Engineering Department, Worcester Polytechnic Institute, Worcester MA., Rajamani DK; Robotics Engineering Department, Worcester Polytechnic Institute, Worcester MA., Szewczyk B; Robotics Engineering Department, Worcester Polytechnic Institute, Worcester MA.; Department of Neurosurgery, Albany Medical Center, Albany NY., Zhao Z; Robotics Engineering Department, Worcester Polytechnic Institute, Worcester MA., Gandomi K; Robotics Engineering Department, Worcester Polytechnic Institute, Worcester MA., Sekhar SC; Robotics Engineering Department, Worcester Polytechnic Institute, Worcester MA., Pilitsis J; Department of Neurosurgery, Albany Medical Center, Albany NY.; Department of Neuroscience and Experimental Therapeutics, Albany Medical Center, Albany NY., Nycz C; Robotics Engineering Department, Worcester Polytechnic Institute, Worcester MA., Fischer G; Robotics Engineering Department, Worcester Polytechnic Institute, Worcester MA.
Jazyk:	angličtina
Zdroj:	... International Symposium on Medical Robotics. International Symposium on Medical Robotics [Int Symp Med Robot] 2021 Nov; Vol. 2021. Date of Electronic Publication: 2022 Jan 03.
DOI:	10.1109/ismr48346.2021.9661581
Abstrakt:	The adoption of robotic image-guided surgeries has enabled physicians to perform therapeutic and diagnostic procedures with less invasiveness and higher accuracy. One example is the MRI-guided stereotactic robotic-assisted surgery for conformal brain tumor ablation, where the robot is used to position and orient a thin probe to target a desired region within the brain. Requirements such as the remote center of motion and precise manipulation, impose the use of complex kinematic structures, which result in non-trivial workspaces in these robots. The lack of workspace visualization poses a challenge in selecting valid entry and target points during the surgical planning and navigation stage. In this paper, we present a surgical planning toolkit called the "NeuroPlan" for our MRI-compatible stereotactic neurosurgery robot developed as a module for 3D Slicer software. This toolkit streamlines the current surgical workflow by rendering and overlaying the robot's reachable workspace on the MRI image. It also assists with identifying the optimal entry point by segmenting the cranial burr hole volume and locating its center. We demonstrate the accuracy of the workspace rendering and burr hole parameter detection through both phantom and MR-images acquired from previously conducted animal studies.
Databáze:	MEDLINE
Externí odkaz:	Zobrazit plný text záznamu