Robot-assisted image-guided targeting for minimally invasive neurosurgery: Planning, registration, and In-vitro experiment

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Scopus citations

Abstract

This paper present a novel image-guided system for precise automatic targeting in keyhole minimally invasive neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle/probe insertion. Intraoperatively, the robot is directly affixed to a head clamp or to the patient skull. It automatically positions itself with respect to predefined targets in a preoperative CT/MRI image following an anatomical registration with a intraoperative 3D surface scan of the patient facial features. We describe the preoperative planning and registration modules, and an in-vitro registration experiment of the entire system which yields a target registration error of 1.7mm (std=0.7mm).

Original languageAmerican English
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - 8th International Conference, Proceedings
Pages131-138
Number of pages8
DOIs
StatePublished - 2005
Event8th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - Palm Springs, CA, United States
Duration: 26 Oct 200529 Oct 2005

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume3750 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference8th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005
Country/TerritoryUnited States
CityPalm Springs, CA
Period26/10/0529/10/05

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