Rachinger Jens, Bumm Klaus, Wurm Jochen, Bohr Christopher, Nissen Urs, Dannenmann Tim, Buchfelder Michael, Iro Heinrich, Nimsky Christopher
Department of Neurosurgery, University of Erlangen-Nuremberg, Erlangen, Germany.
Stereotact Funct Neurosurg. 2007;85(5):249-55. doi: 10.1159/000103264. Epub 2007 May 25.
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, 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.
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.
With its user-friendly 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.
将一种新型机器人系统引入神经外科领域，并报告其准确性的初步评估结果以及设想的应用概念。基于对另一种系统（Evolution 1，URS公司，德国什未林）的经验，讨论技术进步情况。
材料/方法：基本模块是一个具有改进控制元件的工业六自由度机器人手臂。该系统结合了无框架立体定向、机器人技术和内窥镜检查。评估了机器人的重复性误差和总体误差。为进行准确性测试，在一具尸体头部放置CT标记物，然后用机器人的工具尖端进行精确定位，包括全自动和遥控操作两种方式。评估了该系统在临床环境中的适用性、用户友好性、安全性和灵活性。
新系统适用于神经外科手术室。硬件和软件都用户友好且灵活。平均重复性误差为0.052 - 0.062毫米，平均总体误差为0.816毫米。该系统比Evolution 1更轻便，使用起来容易得多。
凭借其用户友好的界面、可靠的安全特性、高应用准确性和灵活性，新系统是一个适用于各种神经外科应用的多功能机器人平台。目前正在针对不同应用进行调整。
