Miniature robot-based precise targeting system for keyhole neurosurgery: Concept and preliminary results

L. Joskowicz; M. Shoham; R. Shamir; M. Freiman; E. Zehavi; Y. Shoshan

doi:10.1016/j.ics.2005.03.343

Miniature robot-based precise targeting system for keyhole neurosurgery: Concept and preliminary results

L. Joskowicz^*, M. Shoham, R. Shamir, M. Freiman, E. Zehavi, Y. Shoshan

^*Corresponding author for this work

The Rachel and Selim Benin School of Engineering and Computer Science

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

This paper describes a novel system for precise automatic targeting in minimally invasive neurosurgery. The system consists of a miniature robot fitted with a rigid mechanical guide for needle, catheter, or probe insertion. Intraoperatively, the robot is directly affixed to the patient skull or to a head clamp. It automatically positions itself with respect to predefined targets in a preoperative CT/MRI image following a three-way anatomical registration with an intraoperative 3D-laser scan of the patient face features. We describe the system architecture, surgical protocol, software modules, and implementation. Registration results on 19 pairs of real MRI and 3D laser scan data show an RMS error of 1.0 mm (std = 0.95 mm) in 2 s.

Original language	American English
Pages (from-to)	618-623
Number of pages	6
Journal	International Congress Series
Volume	1281
DOIs	https://doi.org/10.1016/j.ics.2005.03.343
State	Published - May 2005

Bibliographical note

Funding Information:
This research was supported in part by a grant from the Israel Ministry of Industry and Trade under a Magneton Grant.

Keywords

Computer-aided neurosurgery
Medical robotics
Multimodal registration

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10.1016/j.ics.2005.03.343

Cite this

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abstract = "This paper describes a novel system for precise automatic targeting in minimally invasive neurosurgery. The system consists of a miniature robot fitted with a rigid mechanical guide for needle, catheter, or probe insertion. Intraoperatively, the robot is directly affixed to the patient skull or to a head clamp. It automatically positions itself with respect to predefined targets in a preoperative CT/MRI image following a three-way anatomical registration with an intraoperative 3D-laser scan of the patient face features. We describe the system architecture, surgical protocol, software modules, and implementation. Registration results on 19 pairs of real MRI and 3D laser scan data show an RMS error of 1.0 mm (std = 0.95 mm) in 2 s.",

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AU - Shoham, M.

AU - Shamir, R.

AU - Freiman, M.

AU - Zehavi, E.

AU - Shoshan, Y.

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Miniature robot-based precise targeting system for keyhole neurosurgery: Concept and preliminary results

Abstract

Bibliographical note

Keywords

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