title: Neurosurgical robotic arm drilling navigation system.
abstract: BACKGROUND
  The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process.
  
  
  METHODS
  The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed.
  
  
  RESULTS
  The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2).
  
  
  CONCLUSIONS
  The system may be useful for neurosurgical robotic arm drilling navigation.
authors.affiliation: Department of Computer Science and Information Engineering, College of Engineering, Chang Gung University, Taiwan.|Department of Neurosurgery, Chang Gung Memorial Hospital, Taiwan.
authors.forename: Chung-Chih
authors.initials: CC
authors.lastname: Lin
authors.affiliation: Department of Computer Science and Information Engineering, College of Engineering, Chang Gung University, Taiwan.
authors.forename: Hsin-Cheng
authors.initials: HC
authors.lastname: Lin
authors.affiliation: Department of Computer Information and Network Engineering, Lunghwa University of Science and Technology, Taiwan.
authors.forename: Wen-Yo
authors.initials: WY
authors.lastname: Lee
authors.affiliation: Department of Neurosurgery, Chang Gung Memorial Hospital, Taiwan.|Medical Augmented Reality Research Center, Chang Gung Memorial Hospital, Taiwan.
authors.forename: Shih-Tseng
authors.initials: ST
authors.lastname: Lee
authors.affiliation: Department of Neurosurgery, Chang Gung Memorial Hospital, Taiwan.|Medical Augmented Reality Research Center, Chang Gung Memorial Hospital, Taiwan.
authors.forename: Chieh-Tsai
authors.initials: CT
authors.lastname: Wu
mesh_terms: D000465:Algorithms; D000818:Animals; D001696:Biomechanical Phenomena; D001842:Bone and Bones / Q000601:surgery*; D004867:Equipment Design; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000706:statistics & numerical data; D008953:Models, Anatomic; D023421:Models, Animal; D019635:Neurosurgical Procedures / Q000295:instrumentation* / Q000706:statistics & numerical data; D019047:Phantoms, Imaging; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000706:statistics & numerical data; D012886:Skull / Q000601:surgery; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000706:statistics & numerical data; D034421:Sus scrofa
keywords: 3d printing; bone drilling; haptic device; neurosurgical robot; robotic arm