Puncture accuracy of an optical tracked robotic aiming device-a phantom study

Area of Science:

• Neurosurgery
• Medical Robotics
• Image-Guided Therapy

Background:

• Stereotactic procedures require high precision for accurate targeting.
• Minimizing invasiveness and improving accuracy are key goals in neurosurgical interventions.
• Robotic systems offer potential for enhanced precision and control in minimally invasive surgery.

Purpose of the Study:

• To evaluate the targeting accuracy of a hybrid robotic system combining optical tracking for stereotactic punctures.
• To assess the performance of the iSYS-1 robotic device with optical navigation in a phantom model.
• To determine the feasibility of accurate needle placement without repeated control imaging.

Main Methods:

• A phantom study using CT data sets with varying slice thicknesses (1, 3, 5 mm).
• 150 needle trajectories were planned using an optical navigation device.
• Semi-automatic punctures were performed with the iSYS-1 robotic device and Kirschner wires, with accuracy assessed via CT scans and distance measurements (ED, ND).

Main Results:

• The hybrid system achieved a mean normal distance (ND) at the target of 0.73-0.93 mm across different slice thicknesses.
• Mean Euclidean distance (ED) ranged from 1.61 mm to 2.04 mm.
• The average total procedure time was 27.9 minutes, including all steps from image acquisition to control CT.

Conclusions:

• The optically tracked iSYS-1 robot enables precise punctures in a phantom setting.
• The hybrid system facilitates accurate placement of needle-like instruments without the need for repeated control imaging.
• This technology is promising for interventions in challenging anatomical regions and those requiring complex multi-angle trajectories.