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Related Experiment Video

Updated: Jul 22, 2026

Building An Open-source Robotic Stereotaxic Instrument
11:40

Building An Open-source Robotic Stereotaxic Instrument

Published on: October 29, 2013

A "eye-in-body" integrated surgery robot system for stereotactic surgery.

Liang Li1, Julia Wu1,2, Hui Ding1

  • 1Department of Biomedical Engineering, School of Medicine, Tsinghua University, Room C249, Beijing, 100084, People's Republic of China.

International Journal of Computer Assisted Radiology and Surgery
|July 19, 2019
PubMed
Summary

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This study introduces a novel stereotactic surgical robot system that simplifies operations by eliminating intraoperative calibration and registration. The new system achieves accurate results for stereotactic surgery, improving usability.

Area of Science:

  • Robotics
  • Surgical Technology
  • Medical Imaging

Background:

  • Current stereotactic surgical robot systems require complex calibration, tracking, and registration processes, hindering ease of use.
  • These cumbersome steps are necessary for establishing accurate intraoperative coordinate transformations.

Purpose of the Study:

  • To develop and validate a novel stereotactic surgical robot system that overcomes the usability challenges of existing systems.
  • To simplify the surgical workflow by reducing the need for intraoperative procedures.

Main Methods:

  • A hand-eye integrated scheme was employed to eliminate the need for intraoperative calibration between the robot arm and motion tracking system.
  • A specialized reference-tool-based method was developed for patient registration and tracking, avoiding intraoperative registration.
Keywords:
Image-guided interventionModel-free controlPatient registrationPatient trackingStereotactic surgerySurgical robotics

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  • A model-free visual servo method was utilized to decrease sensitivity to errors in the hand-eye relationship and robot kinematic model.
  • A prototype was built and subjected to performance tests, including a pedicle screw drilling experiment.

    • Main Results:

    • The proposed system demonstrated acceptable accuracy in target positioning, with errors of -0.68 ± 0.52 mm and 0.06 ± 0.41 mm in the plane.
    • Orientation accuracy was achieved within 0.43 ± 0.25°.
    • The pedicle screw drilling experiment confirmed the system's capability to perform accurate stereotactic surgery.

    Conclusions:

    • The novel stereotactic surgical robot system enables stereotactic surgery without intraoperative hand-eye calibration or manual registration.
    • The system achieves acceptable positional and orientational accuracy.
    • It demonstrates tolerance to errors in hand-eye coordinate transformation and robot kinematics models, enhancing robustness.