title: Evaluation of a completely robotized neurosurgical operating microscope.
abstract: BACKGROUND
  Operating microscopes are essential for most neurosurgical procedures. Modern robot-assisted controls offer new possibilities, combining the advantages of conventional and automated systems.
  
  
  OBJECTIVE
  We evaluated the prototype of a completely robotized operating microscope with an integrated optical coherence tomography module.
  
  
  METHODS
  A standard operating microscope was fitted with motors and control instruments, with the manual control mode and balance preserved. In the robot mode, the microscope was steered by a remote control that could be fixed to a surgical instrument. External encoders and accelerometers tracked microscope movements. The microscope was additionally fitted with an optical coherence tomography-scanning module.
  
  
  RESULTS
  The robotized microscope was tested on model systems. It could be freely positioned, without forcing the surgeon to take the hands from the instruments or avert the eyes from the oculars. Positioning error was about 1 mm, and vibration faded in 1 second. Tracking of microscope movements, combined with an autofocus function, allowed determination of the focus position within the 3-dimensional space. This constituted a second loop of navigation independent from conventional infrared reflector-based techniques. In the robot mode, automated optical coherence tomography scanning of large surface areas was feasible.
  
  
  CONCLUSIONS
  The prototype of a robotized optical coherence tomography-integrated operating microscope combines the advantages of a conventional manually controlled operating microscope with a remote-controlled positioning aid and a self-navigating microscope system that performs automated positioning tasks such as surface scans. This demonstrates that, in the future, operating microscopes may be used to acquire intraoperative spatial data, volume changes, and structural data of brain or brain tumor tissue.
authors.affiliation: Department of Neurosurgery, Johannes Gutenberg-University Mainz, Mainz, Germany. sven.kantelhardt@unimedizin-mainz.de
authors.forename: Sven R
authors.initials: SR
authors.lastname: Kantelhardt
authors.forename: Markus
authors.initials: M
authors.lastname: Finke
authors.forename: Achim
authors.initials: A
authors.lastname: Schweikard
authors.forename: Alf
authors.initials: A
authors.lastname: Giese
mesh_terms: D000818:Animals; D001921:Brain / Q000601:surgery; D004867:Equipment Design; D006801:Humans; D008853:Microscopy / Q000295:instrumentation* / Q000379:methods; D008866:Microsurgery / Q000295:instrumentation / Q000379:methods; D019635:Neurosurgical Procedures / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013131:Spine / Q000601:surgery; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D013552:Swine; D013647:Task Performance and Analysis; D041623:Tomography, Optical Coherence / Q000295:instrumentation* / Q000379:methods