Robotic stereotaxic system based on 3D skull reconstruction to improve surgical accuracy and speed.
Robotic stereotaxic system based on 3D skull reconstruction to improve surgical accuracy and speed.
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DOI：
10.1016/j.jneumeth.2020.108955
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发表时间：
2021-01-01
影响因子：
3
通讯作者：
Lei TC
中科院分区：
文献类型：
--
作者：
Ly PT;Lucas A;Pun SH;Dondzillo A;Liu C;Klug A;Lei TC
神经科学研究中的一些实验方法需要将记录电极、移液管或其他工具精确地放置在大脑的特定区域，这些区域可能很小，或者位于表面以下深处。这一过程通常由立体定向方法辅助，但由于缺乏先进的技术来辅助实验者，因此仍然具有挑战性。目前，程序需要大量的技能，失败率很高，并且占用大量的时间。我们通过将三维（3D）颅骨剖析器子系统和全六自由度（6DOF）机器人平台相结合，开发了下一代小型啮齿动物机器人立体定位平台。3D头骨轮廓仪基于结构化照明，其中一系列水平和垂直的线条图案被投射到动物头骨上。这些图案由两个二维（2D） CCD相机捕获，该相机基于结构化照明和几何三角测量重建精确的3D头骨表面轮廓。利用重建的3D轮廓，颅骨可以使用6DOF机器人平台重新定位，以准确对准手术工具。使用机械测量技术对该系统进行了评估，并使用琼脂脑模型和动物头骨验证了平台的准确性。此外，在啮齿类动物中，针对小而深的脑核（梯形体内侧核）进行了靶向，以证实靶向的准确性。新的立体定向系统可以在最少的用户干预下快速准确地完成“平头”，从而降低了此类实验的失败率。
Some experimental approaches in neuroscience research require the precise placement of a recording electrode, pipette or other tool into a specific brain area that can be quite small and/or located deep beneath the surface. This process is typically aided with stereotaxic methods but remains challenging due to a lack of advanced technology to aid the experimenter. Currently, procedures require a significant amount of skill, have a high failure rate, and take up a significant amount of time. We developed a next generation robotic stereotaxic platform for small rodents by combining a three-dimensional (3D) skull profiler sub-system and a full six degree-of-freedom (6DOF) robotic platform. The 3D skull profiler is based on structured illumination in which a series of horizontal and vertical line patterns are projected onto an animal skull. These patterns are captured by two two-dimensional (2D) CCD cameras which reconstruct an accurate 3D skull surface profile based on structured illumination and geometrical triangulation. Using the reconstructed 3D profile, the skull can be repositioned using a 6DOF robotic platform to accurately align a surgical tool. The system was evaluated using mechanical measurement techniques, and the accuracy of the platform was demonstrated using agar brain phantoms and animal skulls. Additionally, a small and deep brain nucleus (the medial nucleus of the trapezoid body) were targeted in rodents to confirm the targeting accuracy. The new stereotaxic system can accomplish “skull-flat” rapidly and precisely and with minimal user intervention, and thus reduces the failure rate of such experiments.
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DOI：
10.1007/s11548-009-0372-4
发表时间：
2010-03-01
影响因子：
3
作者：
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通讯作者：
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影响因子：
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作者：
Shang, Jianzhong;Leibrandt, Konrad;Yang, Guang-Zhong
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影响因子：
4.5
作者：
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通讯作者：
Sturm, P
影响因子：
4.6
作者：
Ghanbari, Leila;Rynes, Mathew L.;Kodandaramaiah, Suhasa B.
通讯作者：
Kodandaramaiah, Suhasa B.
DOI：
10.1007/978-2-8178-0472-9_7
发表时间：
2014-01-01
期刊：
STEREOTAXIC NEUROSURGERY IN LABORATORY RODENT: HANDBOOK ON BEST PRACTICES
影响因子：
--
作者：
Ferry, Barbara;Gervasoni, Damien;Vogt, Catherine
通讯作者：
Vogt, Catherine