The application accuracy of the NeuroMate robot--A quantitative comparison with frameless and frame-based surgical localization systems.
The application accuracy of the NeuroMate robot--A quantitative comparison with frameless and frame-based surgical localization systems.
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DOI：
10.1002/igs.10035
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发表时间：
2002-01-01
期刊：
影响因子：
--
通讯作者：
Diaz, Fernando
中科院分区：
文献类型：
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作者：
Li, Qing Hang;Zamorano, Lucia;Diaz, Fernando
NeuroMate 商标机器人系统（Integrated Surgical Systems，戴维斯，加利福尼亚州）是一种商用图像引导机器人辅助系统，用于神经外科立体定向手术。在本文中，我们对 NeuroMate 与标准的基于框架和无框架立体定向技术的应用准确性进行了定量比较。本文讨论了五种应用准确性比较研究。我们比较的变量及其平均误差如下：（1）机器人采用基于框架的配置时，RMS 为 0.86 +/- 0.32 mm； (2) 机器人处于无框架配置时，RMS 为 1.95 +/- 0.44 mm； (3) 在基于标准立体定向 (ZD) 框架的方法中，RMS 为 1.17 +/- 0.25 mm； (4) 采用红外跟踪系统，使用框架进行基准配准，RMS 为 1.47 +/- 0.45 mm； (5) 使用使用螺钉标记进行配准的红外跟踪系统，RMS 为 0.68 +/- 0.26 mm。该研究使用 2 毫米的 CT 扫描切片进行。这些结果表明，基于框架的 NeuroMate 机器人的应用精度与标准定位系统相当，无论是基于框架的还是红外跟踪的。
The NeuroMatetrade mark robot system (Integrated Surgical Systems, Davis, CA) is a commercially available, image-guided, robotic-assisted system used for stereotactic procedures in neurosurgery. In this article, we present a quantitative comparison of the application accuracy of the NeuroMate with that of standard frame-based and frameless stereotactic techniques. The article discusses a five-way application accuracy comparison study. The variables of our comparison and their mean errors are as follows: (1) with the robot in a frame-based configuration, the RMS was 0.86 +/- 0.32 mm; (2) with the robot in the frameless configuration, the RMS was 1.95 +/- 0.44 mm; (3) in a standard stereotactic (ZD) frame-based approach, the RMS was 1.17 +/- 0.25 mm; (4) with an infrared tracking system using the frame for fiducial registration, the RMS was 1.47 +/- 0.45 mm; (5) with an infrared tracking system using screw markers for registration, the RMS was 0.68 +/- 0.26 mm. The study was performed with 2-mm sections of CT scans. These results show that the application accuracy of the frame-based NeuroMate robot is comparable to that of standard localizing systems, whether they are frame-based or infrared tracked.