Intra-operative robotics: NeuroArm.
This manuscript describes the development and ongoing integration of neuroArm, an image-guided MR-compatible robot.


METHODS
A neurosurgical robotics platform was developed, including MR-compatible manipulators, or arms, with seven degrees of freedom, a main system controller, and a human-machine interface. This system was evaluated during pre-clinical trials and subsequent clinical application, combined with intra-operative MRI, at both 1.5 and 3.0 T.


RESULTS
An MR-compatible surgical robot was successfully developed and merged with ioMRI at both 1.5 or 3.0 T. Image-guidance accuracy and microsurgical capability were established in pre-clinical trials. Early clinical experience demonstrated feasibility and showed the importance of a master-slave configuration. Surgeon-directed manipulator control improved performance and safety.


CONCLUSIONS
NeuroArm successfully united the precision and accuracy of robotics with the executive decision-making capability of the surgeon.
Lang
Michael J
MJ
Department of Clinical Neurosciences, University of Calgary, Calgary, AB, Canada.
Greer
Alexander D
AD
Sutherland
Garnette R
GR
D004867:Equipment Design; D006801:Humans; D008279:Magnetic Resonance Imaging / Q000295:instrumentation / Q000379:methods*; D019635:Neurosurgical Procedures / Q000295:instrumentation* / Q000379:methods*; D012371:Robotics; D025321:Surgery, Computer-Assisted