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Related Experiment Video

Updated: Jun 3, 2025

Operative Technique and Nuances for the Stereoelectroencephalographic SEEG Methodology Utilizing a Robotic Stereotactic Guidance System
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Tele-manipulative Neuro-registration in Robot-assisted Neurosurgery.

Ravinder Kumar1, T A Dwarakanath2, Gaurav Bhutani1

  • 1Department of Engineering Sciences, Homi Bhabha National Institute, Mumbai, India; Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai, India.

World Neurosurgery
|January 10, 2025
PubMed
Summary
This summary is machine-generated.

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This study demonstrates accurate neuro-registration using tele-manipulation for robot-assisted neurosurgery. The master-slave robot system achieves high precision, reducing registration time and enhancing surgical accuracy.

Area of Science:

  • Robotics in Medicine
  • Neurosurgery
  • Medical Imaging

Background:

  • Accurate neuro-registration is critical for successful robot-assisted neurosurgery.
  • Tele-manipulation offers a method to enhance surgical accuracy and reach.
  • This work focuses on improving neuro-registration techniques.

Purpose of the Study:

  • To demonstrate accurate neuro-registration using a tele-manipulation system.
  • To facilitate tele-surgery with enhanced precision.
  • To improve the overall accuracy and reach of robot-assisted neurosurgery.

Main Methods:

  • A 6 degrees-of-freedom parallel kinematic mechanism (6D-PKM) master-slave robot was used for neuro-registration and neurosurgery.
  • Real-time kinematic control was achieved using a trajectory modifier algorithm with high accuracy (1 μm translation, 0.001° orientation).
Keywords:
6D-PKM forward kinematicsApplication of parallel robots in surgeryImage-guided surgeryNeuro-registration and tele-operationNeuronavigationRobot-based neurosurgery

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Last Updated: Jun 3, 2025

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  • Neuro-registration involved remotely guiding the slave robot to touch fiducial markers on skull phantoms.

    • Main Results:

    • The neuro-registration process successfully registered phantoms with a maximum error of 0.6 mm.
    • Neurosurgery accuracy was validated on target points within the phantom.
    • Robot-guided needle insertion achieved high precision, piercing a 2-mm needle through a 3-mm hole with 500 μm clearance.

    Conclusions:

    • Tele-manipulation enables accurate neuro-registration for robot-assisted neurosurgery.
    • This approach eliminates line-of-sight issues and the need for separate registration units.
    • The method minimizes registration time, making intraoperative registration feasible.