title: Robotic autopositioning of the operating microscope.
abstract: BACKGROUND
  Use of the operating microscope has become pervasive since its introduction to the neurosurgical world. Neuronavigation fused with the operating microscope has allowed accurate correlation of the focal point of the microscope and its location on the downloaded imaging study. However, the robotic ability of the Pentero microscope has not been utilized to orient the angle of the microscope or to change its focal length to hone in on a predefined target.
  
  
  OBJECTIVE
  To report a novel technology that allows automatic positioning of the operating microscope onto a set target and utilization of a planned trajectory, either determined with the StealthStation S7 by using preoperative imaging or intraoperatively with the microscope.
  
  
  METHODS
  By utilizing the current motorized capabilities of the Zeiss OPMI Pentero microscope, a robotic autopositioning feature was developed in collaboration with Surgical Technologies, Medtronic, Inc. (StealthStation S7). The system is currently being tested at the Barrow Neurological Institute.
  
  
  RESULTS
  Three options were developed for automatically positioning the microscope: AutoLock Current Point, Align Parallel to Plan, and Point to Plan Target. These options allow the microscope to pivot around the lesion, hover in a set plane parallel to the determined trajectory, or rotate and point to a set target point, respectively.
  
  
  CONCLUSIONS
  Integration of automatic microscope positioning into the operative workflow has potential to increase operative efficacy and safety. This technology is best suited for precise trajectories and entry points into deep-seated lesions.
authors: *Division of Neurological Surgery, Barrow Neurological Institute, St. Joseph's Hospital and Medical Center, Phoenix, Arizona; ‡Medtronic Navigation, Inc., Louisville, Colorado; §Carl Zeiss Meditec, Inc., Oberkochen, Germany.
authors: Mark E
authors: ME
authors: Oppenlander
authors: Shakeel A
authors: SA
authors: Chowdhry
authors: Brandon
authors: B
authors: Merkl
authors: Guido M
authors: GM
authors: Hattendorf
authors: Peter
authors: P
authors: Nakaji
authors: Robert F
authors: RF
authors: Spetzler
mesh_terms: D002675:Child, Preschool; D005260:Female; D005682:Gadolinium; D006801:Humans; D008279:Magnetic Resonance Imaging; D008853:Microscopy / Q000379:methods*; D038361:Neuronavigation; D010291:Paresis / Q000601:surgery*; D065287:Robotic Surgical Procedures / Q000379:methods*
chemical_list: D005682:Gadolinium