Autonomous neuro-registration for robot-based neurosurgery

International Journal of Computer Assisted Radiology and Surgery
Abhishek KaushikGaurav Bhutani

Abstract

Neuro-registration is of primary importance as it has a bearing on the accuracy of neurosurgery. Although the accuracy of surgical robots is within the acceptable medical standards, the overall surgical accuracy is dictated by the errors in the neuro-registration process. The purpose of this work is to automate the neuro-registration process to improve the overall accuracy of the robot-based neurosurgery. A highly accurate 6-degree-of-freedom Parallel Kinematic Mechanism (6D-PKM) robot is used for both neuro-registration and neurosurgery. In neuro-registration, after measurement of points in the medical image space, the end-platform of the 6D-PKM surgical robot carrying the camera will autonomously navigate towards the fiducial markers to measure its coordinates in the real patient space. An accurate relationship between the medical image space and the real patient space is established, and the same robot will navigate the surgical tool to the target. In order to validate the proposed method for autonomous neuro-registration, experiments are performed using four phantoms. The four phantoms are as follows: PVC skull model, two acrylic blocks and a glass jar with coaxial shells. These phantoms are specifically designed to simulat...Continue Reading

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Citations

Mar 13, 2020·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Abhishek KaushikGaurav Bhutani
May 14, 2021·Operative Neurosurgery·Omaditya KhannaSimon DiMaio

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