An integrated system for planning, navigation and robotic assistance for skull base surgery.
An integrated system for planning, navigation and robotic assistance for skull base surgery.
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DOI：
10.1002/rcs.213
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发表时间：
2008-12
影响因子：
2.5
通讯作者：
Kazanzides, Peter
中科院分区：
文献类型：
--
作者：
Xia, Tian;Baird, Clint;Jallo, George;Hayes, Kathryn;Nakajima, Nobuyuki;Hata, Nobuhiko;Kazanzides, Peter
我们开发了一种图像引导机器人系统，为颅底钻孔提供机械辅助，该系统用于获得一些神经外科干预措施，如肿瘤切除术。引入该机器人的动机是通过防止外科医生在钻孔过程中意外损坏关键的神经血管结构来提高安全性。我们集成了Stealthstation®导航系统、带有六自由度力传感器的NeuroMate®机械臂和3D Slicer可视化软件，以允许外科医生以导航、合作控制的方式使用机械臂。我们采用虚拟夹具来约束机器人手持切割工具的运动，使其保持在术前CT扫描定义的安全区内。我们在泡沫颅骨和尸体头上进行了实验。使用不同配准切割的泡沫块的结果产生了0.6 mm的平均放置误差和0.6 mm的平均尺寸误差。我们在三具尸体头部钻后耳孔，并得出结论，机器人辅助手术在临床上是可行的，并提供了一些人体工程学的好处，如稳定钻。我们获得了尸体头部的术后CT扫描，以评估准确性，发现虚拟夹具边界外的一些骨被切割。典型的过切为1-2 mm，最大过切约为3 mm。图像引导的协同控制机器人系统可以通过稳定钻头和执行虚拟夹具来保护关键的神经血管结构，从而提高颅底钻孔的安全性和人体工程学。下一步是提高准确度，以便将过切减少到临床上更可接受的约1 mm的值。
We developed an image-guided robot system to provide mechanical assistance for skull base drilling, which is performed to gain access for some neurosurgical interventions, such as tumour resection. The motivation for introducing this robot was to improve safety by preventing the surgeon from accidentally damaging critical neurovascular structures during the drilling procedure. We integrated a Stealthstation® navigation system, a NeuroMate® robotic arm with a six-degree-of-freedom force sensor, and the 3D Slicer visualization software to allow the robotic arm to be used in a navigated, cooperatively-controlled fashion by the surgeon. We employed virtual fixtures to constrain the motion of the robot-held cutting tool, so that it remained in the safe zone that was defined on a preoperative CT scan. We performed experiments on both foam skull and cadaver heads. The results for foam blocks cut using different registrations yielded an average placement error of 0.6 mm and an average dimensional error of 0.6 mm. We drilled the posterior porus acusticus in three cadaver heads and concluded that the robot-assisted procedure is clinically feasible and provides some ergonomic benefits, such as stabilizing the drill. We obtained postoperative CT scans of the cadaver heads to assess the accuracy and found that some bone outside the virtual fixture boundary was cut. The typical overcut was 1–2 mm, with a maximum overcut of about 3 mm. The image-guided cooperatively-controlled robot system can improve the safety and ergonomics of skull base drilling by stabilizing the drill and enforcing virtual fixtures to protect critical neurovascular structures. The next step is to improve the accuracy so that the overcut can be reduced to a more clinically acceptable value of about 1 mm.
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DOI：
10.1109/tra.2003.817510
发表时间：
2003-10-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
Jakopec, M;Rodriguez y Baena, F;Davies, BL
通讯作者：
Davies, BL
DOI：
10.1002/igs.10035
发表时间：
2002-01-01
期刊：
Computer aided surgery : official journal of the International Society for Computer Aided Surgery
影响因子：
--
作者：
Li, Qing Hang;Zamorano, Lucia;Diaz, Fernando
通讯作者：
Diaz, Fernando
影响因子：
--
作者：
Kazanzides, Peter;Chang, Jenghwa;Fichtinger, Gabor
通讯作者：
Fichtinger, Gabor
影响因子：
4.8
作者：
Sawaya, R;Hammoud, M;Wildrick, DM
通讯作者：
Wildrick, DM
影响因子：
2.6
作者：
Federspil, PA;Geisthoff, UW;Plinkert, PK
通讯作者：
Plinkert, PK