Robot-Assisted Image-Guided Targeting for Minimally Invasive Neurosurgery: Planning, Registration, and In-vitro Experiment

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• 作者：R. Shamir ; M. Freiman ; L. Joskowicz ; M. Shoham ; E. Zehavi ; et al.
• 刊名：Lecture Notes in Computer Science
• 出版年：2005
• 出版时间：2005
• 年：2005
• 卷：3750
• 期：1
• 页码：p.131
• 全文大小：5,023 KB

文摘

This paper present a novel image-guided system for precise automatic targeting in keyhole minimally invasive neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle/probe insertion. Intraoperatively, the robot is directly affixed to a head clamp or to the patient skull. It automatically positions itself with respect to predefined targets in a preoperative CT/MRI image following an anatomical registration with a intraoperative 3D surface scan of the patient facial features. We describe the preoperative planning and registration modules, and an in-vitro registration experiment of the entire system which yields a target registration error of 1.7mm (std=0.7mm).