| Autor: |
Gunderman AL; Department of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA 30338 USA., Sengupta S; Vanderbilt University Institute of Imaging Science, Vanderbilt University Medical Center, Nashville, TN 37232 USA., Huang Z; Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30338 USA., Sigounas D; The George Washington University School of Medicine and Health Sciences, Department of Neurosurgery, The George Washington University, Washington, DC, US., Oluigbo C; Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Hospital, Washington, DC 20010 USA., Godage IS; Department of Engineering Technology and Industrial Distribution, Texas A&M University, College Station, TX, USA., Cleary K; Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Hospital, Washington, DC 20010 USA., Chen Y; Biomedical Engineering Department, Georgia Institute of Technology/Emory, Atlanta 30338 USA. |
| Abstrakt: |
Stereotactic neurosurgery is a well-established surgical technique for navigation and guidance during treatment of intracranial pathologies. Intracerebral hemorrhage (ICH) is an example of various neurosurgical conditions that can benefit from stereotactic neurosurgery. As a part of our ongoing work toward real-time MR-guided ICH evacuation, we aim to address an unmet clinical need for a skull-mounted frameless stereotactic aiming device that can be used with minimally invasive robotic systems for MR-guided interventions. In this paper, we present NICE-Aiming, a Neurosurgical, Interventional, Configurable device for Effective-Aiming in MR-guided robotic neurosurgical interventions. A kinematic model was developed and the system was used with a concentric tube robot (CTR) for ICH evacuation in (i) a skull phantom and (ii) in the first ever reported ex vivo CTR ICH evacuation using an ex vivo ovine head. The NICE-Aiming prototype provided a tip accuracy of 1.41±0.35 mm in free-space. In the MR-guided gel phantom experiment, the targeting accuracy was 2.07±0.42 mm and the residual hematoma volume was 12.87 mL (24.32% of the original volume). In the MR-guided ex vivo ovine head experiment, the targeting accuracy was 2.48±0.48 mm and the residual hematoma volume was 1.42 mL (25.08% of the original volume). |
