Accurate multi-robot targeting for keyhole neurosurgery based on external sensor monitoring
Autor: | Mirko Daniele Comparetti, Elena De Momi, Moshe Shoham, Ilya Dyagilev, Alberto Vaccarella, Giancarlo Ferrigno |
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Rok vydání: | 2012 |
Předmět: |
Models
Anatomic medicine.medical_specialty Engineering 0206 medical engineering ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 02 engineering and technology Visual servoing 030218 nuclear medicine & medical imaging 03 medical and health sciences 0302 clinical medicine medicine Humans Neuronavigation Simulation Phantoms Imaging business.industry Mechanical Engineering Robotics Control engineering General Medicine Surgical procedures 020601 biomedical engineering Robot Neurosurgery Artificial intelligence business Keyhole Algorithms |
Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine. 226:347-359 |
ISSN: | 2041-3033 0954-4119 |
DOI: | 10.1177/0954411912442120 |
Popis: | 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. |
Databáze: | OpenAIRE |
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