Department of Engineering Sciences, Homi Bhabha National Institute, Mumbai, India.
Division of Remote Handling & Robotics, Bhabha Atomic Research Centre and Homi Bhabha National Institute, Mumbai, India.
World Neurosurg. 2020 May;137:71-77. doi: 10.1016/j.wneu.2020.01.206. Epub 2020 Feb 4.
This work attempts to simulate a robot-based autonomous targeted neurosurgical procedure such as biopsy on a vegetable specimen. The objective of the work is to validate the robot-based autonomous neuroregistration and neuronavigation for neurosurgery in terms of stereotactic navigation and target accuracy.
A vegetable (carrot) fixed in a tray was used as a model. The tray was affixed with multiple markers. The robot autonomously registers the subject precisely and subsequently accesses the target. The navigation trajectory closely follows the path from the entry point to the target point, as specified in the medical image. The replication of procedures reveals that the target accuracies are within 1 mm. The results based on the case studies are presented. Intricate cases in terms of entry hole size, depth, and size of the target are considered for both phantom and vegetable trials.
The results of the case studies show enhanced and consistent performance characteristics in terms of accuracy, precision, and repeatability with the added advantage of the economy of time. The case studies serve as validation for a high precision robot-assisted neuroregistration and neuronavigation task for neurosurgery and pave the way for further animal and human trials.
本工作旨在模拟基于机器人的自主靶向神经外科手术，如活检在植物标本上进行。这项工作的目的是验证基于机器人的自主神经配准和神经导航在立体定向导航和目标精度方面的性能。
将一个固定在托盘上的蔬菜（胡萝卜）用作模型。托盘上贴有多个标记。机器人可以精确地自动注册目标，然后接近目标。导航轨迹紧密遵循医学图像中指定的从进入点到目标点的路径。重复这些过程表明，目标精度在 1 毫米以内。
病例研究的结果表明，在准确性、精度和可重复性方面具有增强和一致的性能特征，并且具有节省时间的优势。这些病例研究为神经外科的高精度机器人辅助神经配准和神经导航任务提供了验证，并为进一步的动物和人体试验铺平了道路。
