A new mechatronic assistance system for the neurosurgical operating theatre: Implementation, assessment of accuracy and application concepts

作者：Rachinger Jens^*; Bumm Klaus; Wurm Jochen; Bohr Christopher; Nissen Urs; Dannenmann Tim; Buchfelder Michael; Iro Heinrich; Nimsky Christopher

来源：Stereotactic and Functional Neurosurgery, 2007, 85(5): 249-255.

DOI：10.1159/000103264

• neurosurgery
• robotics
• frameless stereotaxy accuracy

Objective: To introduce a new robotic system to the field of neurosurgery and report on a preliminary assessment of accuracy as well as on envisioned application concepts. Based on experience with another system (Evolution 1 (R), URS Inc., Schwerin, Germany), technical advancements are discussed. Material/Methods: The basic module is an industrial 6 degrees of freedom robotic arm with a modified control element. The system combines frameless stereotaxy, robotics, and endoscopy. The robotic reproducibility error and the overall error were evaluated. For accuracy testing CT markers were placed on a cadaveric head and pinpointed with the robot's tool tip, both fully automated and telemanipulatory. Applicability in a clinical setting, user friendliness, safety and flexibility were assessed. Results: The new system is suitable for use in the neurosurgical operating theatre. Hard- and software are user-friendly and flexible. The mean reproducibility error was 0.052-0.062 mm, the mean overall error was 0.816 mm. The system is less cumbersome and much easier to use than the Evolution 1. Conclusions: With its userfriendly interface and reliable safety features, its high application accuracy and flexibility, the new system is a versatile robotic platform for various neurosurgical applications. Adaptations for different applications are currently being realized.

• 出版日期2007
• 单位河北医科大学