Neuromaster: a robot system for neurosurgery

This work introduces a robot system for minimally invasive frameless stereotactic neurosurgery. The system consists of a robot arm for precise positioning of surgical tools, a vision system for intro-operative registration, and a preoperative planning system. The robot is a custom designed accurate arm with five degree-of-freedom. The vision system uses two cameras to automatically generate the target position of the robot The robot can be controlled autonomously as well as interactively through an intuitive way. Experiments and clinical trials approve the robot system is effective and powerful.

[1]  C B Ostertag.  [Stereotactic brain surgery]. , 1988, Deutsche Krankenpflegezeitschrift.

[2]  S. Hayati,et al.  A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery , 1988, IEEE Transactions on Biomedical Engineering.

[3]  Philippe Cinquin,et al.  Image guided operating robot: a clinical application in stereotactic neurosurgery , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[4]  C. W. Burckhardt,et al.  Stereotactic brain surgery , 1995 .

[5]  H Iseki,et al.  Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery. , 1995, Journal of image guided surgery.

[6]  Yong Zhang,et al.  A robotics system for stereotactic neurosurgery and its clinical application , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[7]  Ludwig M. Auer,et al.  Neurobot: a special-purpose robot for neurosurgery , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[8]  Tianmiao Wang,et al.  Study on robot-assisted minimally invasive neurosurgery and its clinical application , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[9]  Tianmiao Wang,et al.  A simulation and training system of robot assisted surgery based on virtual reality , 2001, Proceedings International Workshop on Medical Imaging and Augmented Reality.

[10]  Abhilash Pandya,et al.  The application accuracy of the NeuroMate robot--A quantitative comparison with frameless and frame-based surgical localization systems. , 2002, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[11]  Tianmiao Wang,et al.  Remote surgery case: robot-assisted teleneurosurgery , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.