title: A new mechatronic assistance system for the neurosurgical operating theatre: implementation, assessment of accuracy and application concepts.
abstract: OBJECTIVE
  To introduce a new robotic system to the field of neurosurgery and report on a preliminary assessment of accuracy as well as on envisioned application concepts. Based on experience with another system (Evolution 1, URS Inc., Schwerin, Germany), technical advancements are discussed.
  
  
  METHODS
  The basic module is an industrial 6 degrees of freedom robotic arm with a modified control element. The system combines frameless stereotaxy, robotics, and endoscopy. The robotic reproducibility error and the overall error were evaluated. For accuracy testing CT markers were placed on a cadaveric head and pinpointed with the robot's tool tip, both fully automated and telemanipulatory. Applicability in a clinical setting, user friendliness, safety and flexibility were assessed.
  
  
  RESULTS
  The new system is suitable for use in the neurosurgical operating theatre. Hard- and software are user-friendly and flexible. The mean reproducibility error was 0.052-0.062 mm, the mean overall error was 0.816 mm. The system is less cumbersome and much easier to use than the Evolution 1.
  
  
  CONCLUSIONS
  With its user-friendly interface and reliable safety features, its high application accuracy and flexibility, the new system is a versatile robotic platform for various neurosurgical applications. Adaptations for different applications are currently being realized.
authors.affiliation: Department of Neurosurgery, University of Erlangen-Nuremberg, Erlangen, Germany. jens.rachinger@medizin.uni-halle.de
authors.forename: Jens
authors.initials: J
authors.lastname: Rachinger
authors.forename: Klaus
authors.initials: K
authors.lastname: Bumm
authors.forename: Jochen
authors.initials: J
authors.lastname: Wurm
authors.forename: Christopher
authors.initials: C
authors.lastname: Bohr
authors.forename: Urs
authors.initials: U
authors.lastname: Nissen
authors.forename: Tim
authors.initials: T
authors.lastname: Dannenmann
authors.forename: Michael
authors.initials: M
authors.lastname: Buchfelder
authors.forename: Heinrich
authors.initials: H
authors.lastname: Iro
authors.forename: Christopher
authors.initials: C
authors.lastname: Nimsky
mesh_terms: D004724:Endoscopy; D004867:Equipment Design; D006801:Humans; D038361:Neuronavigation; D009493:Neurosurgery / Q000295:instrumentation* / Q000379:methods*; D009873:Operating Rooms; D019047:Phantoms, Imaging; D012371:Robotics / Q000295:instrumentation*; D013523:Surgical Equipment