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A Preliminary Study on Animal Experiments of Robot-Assisted Craniotomy
Cheng Xu1, Li Lin1, Zin Mar Aung2
1Institute of Forming Technology & Equipment, Shanghai, China.
World Neurosurgery
|February 4, 2021
Summary
A new robot system enhances craniotomy safety and precision using intraoperative imaging and human-robot collaboration. This system reduces surgical risks and improves accuracy for complex bone drilling and milling procedures.
Area of Science:
- Neurosurgery
- Robotics
- Medical Imaging
Background:
- Traditional craniotomy presents risks like excessive bone removal, brain penetration, and bleeding.
- Surgeon experience is critical but can lead to variability and complications.
- Current methods lack the precision and safety needed for complex cranial procedures.
Purpose of the Study:
- To develop a robot system for craniotomy that improves surgical safety and accuracy.
- To reduce the labor-intensive nature of traditional craniotomy procedures.
- To enable human-robot cooperative interaction for intuitive surgical control.
Main Methods:
- Developed a robot system integrating intraoperative cone-beam computed tomography (CBCT) image guidance.
- Implemented a human-robot collaborative approach for natural interaction aligned with surgeon habits.
- Utilized frequency-based contact distinction and torque estimation for enhanced robot safety.
Main Results:
- Animal experiments demonstrated high precision in drilling (position error ~0.9-1.0 mm, angle error ~3.4°) and milling (position error ~1.1 mm).
- The system achieved sufficient precision for craniotomy tasks with human-robot collaboration.
- Multisensor feedback ensured a high level of operational safety.
Conclusions:
- The robot system offers accurate positioning and safe, user-friendly human-robot interaction.
- It effectively addresses challenges in craniotomy drilling and milling, meeting clinical demands.
- Provides a novel, effective method for robot-assisted craniotomy.
