title: 3D localization of ferromagnetic probes for small animal neurosurgery.
abstract: We present the design, setup and results for a magnetic navigation system for small animal stereotactic neurosurgery. Our system tracks the position of thin (diameter 0.5 mm), magnetized ferromagnetic probes inserted into brains of small animals, e.g. rats, for electrophysiological recordings. It is used in combination with the spherical assistant for stereotactic surgery (SASSU) robot to obtain online feedback of the probe's position. Navigation is based only on the static magnetic field generated by the probes thus no external excitation or wires are needed.
authors.affiliation: Institute for Robotics and Cognitive Systems, University of Lübeck, Ratzeburger Allee 160, 23538, Germany. heinig@rob.uni-luebeck.de
authors.forename: Maximilian
authors.initials: M
authors.lastname: Heinig
authors.forename: Alexander
authors.initials: A
authors.lastname: Schlaefer
authors.forename: Achim
authors.initials: A
authors.lastname: Schweikard
mesh_terms: D000818:Animals; D015374:Biosensing Techniques; D001921:Brain / Q000378:metabolism; D003196:Computer Graphics; D004594:Electrophysiology / Q000379:methods; D004867:Equipment Design; D021621:Imaging, Three-Dimensional; D020407:Internet; D007501:Iron / Q000737:chemistry; D008280:Magnetics; D009493:Neurosurgery / Q000295:instrumentation* / Q000379:methods; D019635:Neurosurgical Procedures / Q000295:instrumentation*; D051381:Rats; D012371:Robotics; D014584:User-Computer Interface
chemical_list: D007501:Iron