Robot-assisted image-guided targeting for minimally invasive neurosurgery: planning, registration, and in-vitro experiment.
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 1.7 mm (std = 0.7 mm).
Shamir
R
R
School of Eng. and Computer Science, The Hebrew Univ. of Jerusalem, Israel.
Freiman
M
M
Joskowicz
L
L
Shoham
M
M
Zehavi
E
E
Shoshan
Y
Y