Kaminsky J, Brinker T, Samii A, Arango G, Vorkapic P, Samii M
Neurosurgical Department, Nordstadt Hospital, Hannover, Germany.
Neurol Res. 1999 Jun;21(4):420-4. doi: 10.1080/01616412.1999.11740954.
The purpose of this study was to investigate experimentally, factors determining the navigation accuracy of the MKM navigation system by Zeiss. The MKM consists of an operating microscope mounted to a six-axis motor-driven robot arm and an alpha-workstation. The image-guided surgery device provides navigation information based on calculation of the cartesian coordinates of the robot arm, and coordinates of the focus point assessed by laser assisted measurement. Navigation information (current position, direction and distance to a previously selected target) is optically projected into the microscopic field. Following factors were examined in an experimental setting for their impact on accuracy of the MKM: optical system, mechanical precision of the robot arm, and registration procedure. The robot arm and the optical system of the microscope allow high precision measurements of any focus point (error < 2 mm if the following aspects are considered: the use of auto-focus function instead of manual focusing, positioning of the registration points as a square or a triangle focus point should be selected on a surface that is perpendicular to the optical axis.
本研究的目的是通过实验研究决定蔡司MKM导航系统导航精度的因素。MKM由安装在六轴电动机械臂上的手术显微镜和一个α工作站组成。该图像引导手术设备基于机械臂笛卡尔坐标的计算以及通过激光辅助测量评估的焦点坐标来提供导航信息。导航信息（当前位置、方向以及到先前选定目标的距离）以光学方式投射到微观视野中。在实验环境中研究了以下因素对MKM精度的影响：光学系统、机械臂的机械精度以及配准程序。机械臂和显微镜的光学系统能够对任何焦点进行高精度测量（如果考虑以下方面，误差<2毫米：使用自动聚焦功能而非手动聚焦、将配准点定位为正方形或三角形，应在垂直于光轴的表面上选择焦点）。
