TY - JOUR
T1 - Miniature robot-based precise targeting system for keyhole neurosurgery
T2 - Concept and preliminary results
AU - Joskowicz, L.
AU - Shoham, M.
AU - Shamir, R.
AU - Freiman, M.
AU - Zehavi, E.
AU - Shoshan, Y.
N1 - Funding Information:
This research was supported in part by a grant from the Israel Ministry of Industry and Trade under a Magneton Grant.
PY - 2005/5
Y1 - 2005/5
N2 - 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.
AB - 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.
KW - Computer-aided neurosurgery
KW - Medical robotics
KW - Multimodal registration
UR - http://www.scopus.com/inward/record.url?scp=33646443108&partnerID=8YFLogxK
U2 - 10.1016/j.ics.2005.03.343
DO - 10.1016/j.ics.2005.03.343
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AN - SCOPUS:33646443108
SN - 0531-5131
VL - 1281
SP - 618
EP - 623
JO - International Congress Series
JF - International Congress Series
ER -