Department of Biomedical Engineering, School of Medicine, Tsinghua University, Room C249, Beijing, 100084, People's Republic of China.
Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA.
Int J Comput Assist Radiol Surg. 2019 Dec;14(12):2123-2135. doi: 10.1007/s11548-019-02032-x. Epub 2019 Jul 17.
Current stereotactic surgical robots system relies on cumbersome operations such as calibration, tracking and registration to establish the accurate intraoperative coordinate transformation chain, which makes the system not easy to use. To overcome this problem, a novel stereotactic surgical robot system has been proposed and validated.
First, a hand-eye integrated scheme is proposed to avoid the intraoperative calibration between robot arm and motion tracking system. Second, a special reference-tool-based patient registration and tracking method is developed to avoid intraoperative registration. Third, a model-free visual servo method is used to reduce the accuracy requirement of hand-eye relationship and robot kinematic model. Finally, a prototype of the system is constructed and performance tests and a pedicle screw drilling experiment are performed.
The results show that the proposed system has acceptable accuracy. The target positioning error in the plane was - 0.68 ± 0.52 mm and 0.06 ± 0.41 mm. The orientation error was 0.43 ± 0.25°. The pedicle screw drilling experiment shows that the system can complete accurate stereotactic surgery.
The stereotactic surgical robot system described in this paper can perform stereotactic surgery without the intraoperative hand-eye calibration and nor manual registration and can achieve an acceptable position and orientation accuracy while tolerating the errors in the hand-eye coordinate transformation error and the robot kinematics model error.
目前的立体定向手术机器人系统依赖于繁琐的操作，如校准、跟踪和注册，以建立准确的术中坐标转换链，这使得系统不易使用。为了解决这个问题，提出并验证了一种新型的立体定向手术机器人系统。
首先，提出了一种手眼集成方案，以避免机器人臂和运动跟踪系统之间的术中校准。其次，开发了一种特殊的基于参考工具的患者注册和跟踪方法，以避免术中注册。第三，采用无模型视觉伺服方法，降低手眼关系和机器人运动学模型的精度要求。最后，构建了系统原型，并进行了性能测试和椎弓根螺钉钻孔实验。
结果表明，所提出的系统具有可接受的精度。在平面内的目标定位误差为-0.68±0.52mm 和 0.06±0.41mm。方位误差为 0.43±0.25°。椎弓根螺钉钻孔实验表明，该系统能够完成精确的立体定向手术。
本文描述的立体定向手术机器人系统无需在术中进行手眼校准，也无需手动注册，即可进行立体定向手术，同时可以容忍手眼坐标变换误差和机器人运动学模型误差，实现可接受的位置和方位精度。
