A surgical robot with augmented reality visualization for stereoelectroencephalography electrode implantation

Area of Science:

• Neurosurgery
• Medical Robotics
• Image-Guided Surgery

Background:

• Existing stereoelectroencephalography (SEEG) systems face challenges in intuitively validating registration accuracy and visualizing electrode entry points and surrounding anatomy.
• Surgeons require enhanced spatial awareness and real-time feedback for precise electrode placement during SEEG implantation.

Purpose of the Study:

• To develop and evaluate a prototype system enabling video see-through augmented reality (VAR) and spatial augmented reality (SAR) for SEEG implantation.
• To provide surgeons with intuitive confirmation of registration accuracy, precise localization of electrode entry points, and visualization of internal anatomical structures.

Main Methods:

• A projector-camera system (PCS) was developed and attached to a robot arm for SEEG procedures.
• The system performs calibration, acquires patient head point clouds for registration, and generates VAR by merging real-time video with preoperative 3D models.
• Spatial augmented reality (SAR) is achieved by projecting planned electrode trajectories and anatomical data onto the patient's scalp.

Main Results:

• Phantom evaluations demonstrated fiducial registration error of [Formula: see text] mm (max 1.22 mm) and target registration error of [Formula: see text] mm (max 1.18 mm).
• Projection overlay error was measured at [Formula: see text] mm, with a target point error of [Formula: see text] mm after pre-warped projection.
• The system's performance was further assessed considering surgeon viewpoint deviation.

Conclusions:

• The developed system facilitates rapid verification of registration accuracy during SEEG procedures.
• It offers surgeons accurate electrode entry point localization and critical internal anatomical information.
• Enhanced surgical information provided by the system can lead to increased surgeon confidence and improved surgical outcomes.