Robotics in child neurosurgery.
We felt there was a need for a new device with "minimal invasive" tracking hardware, to be used in image-guided neurosurgery, and the system we designed to fill this need is now presented. It combines precision of movement, stability and self-positioning capabilities together with optically tracked registration and procedural control within the structure of a surgical microscope. The results are reduced setup time and minimal "distraction" from the procedure itself, factors of special relevance in child neurosurgery. The system is composed of a six-axis industrial robot suitable for use in the operating room, carrying a surgical microscope. Three progressive scan-synchronized infrared cameras mounted around the lenses of the scope are used to register the patient's position and track surgical instruments with reference to the registered space. Orientation of the microscope during surgery is obtained with a six-axis joystick used as a microscope handle. The system has been clinically used in 14 cases, and it has proven itself to be reliable, providing the expected performance advantages. The implementation of a tracked ultrasound or endoscope intraoperative imaging source is also described.
Giorgi
C
C
1st Division of Neurosurgery, Istituto Nazionale Neurologico, Via Celoria, 11, 20133 Milan, Italy. cesare.giorgi@galactica.it
Sala
R
R
Riva
D
D
Cossu
A
A
Eisenberg
H
H
D001927:Brain Diseases / Q000601:surgery*; D001932:Brain Neoplasms / Q000601:surgery*; D002648:Child; D004867:Equipment Design; D006801:Humans; D008866:Microsurgery / Q000295:instrumentation*; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D012371:Robotics