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Image-guided system with miniature robot for precise positioning and targeting in keyhole neurosurgery
L Joskowicz1, R Shamir, M Freiman
1School of Engineering and Computer Science, The Hebrew University of Jerusalem, Jerusalem, Israel. josko@cs.huji.ac.il
Summary
A new MARS robot system enables precise targeting for minimally invasive keyhole neurosurgery. This image-guided system achieved a 1.7 mm target registration error, approaching clinical accuracy needs.
Area of Science:
- Neurosurgery
- Medical Robotics
- Image-Guided Surgery
Background:
- Minimally invasive keyhole neurosurgery demands high precision for targeting.
- Existing systems may face challenges in achieving sub-millimeter accuracy.
- Image guidance is crucial for navigating complex intracranial structures.
Purpose of the Study:
- To describe a novel image-guided system for precise automatic targeting in keyhole neurosurgery.
- To present the architecture, protocol, hardware, and software of the MARS robot system.
- To evaluate the system's accuracy in in vitro registration experiments.
Main Methods:
- Development of the MARS miniature robot with a mechanical insertion guide.
- Integration of preoperative CT/MRI with intraoperative 3D surface scans for anatomical registration.
- Utilizing a registration jig for precise patient-robot alignment.
- Implementing custom software for planning, execution, and registration.
Main Results:
- The MARS robot system automatically positions itself based on preoperative and intraoperative data.
- In vitro experiments demonstrated a system-wide target registration error of 1.7 mm (SD = 0.7 mm).
- The achieved accuracy is comparable to the clinical requirements for keyhole neurosurgical procedures.
Conclusions:
- The novel image-guided MARS robot system offers precise automatic targeting for minimally invasive neurosurgery.
- The system's accuracy is suitable for clinical application in keyhole neurosurgical procedures.
- Further development and clinical validation are warranted.
