Hu Feng, Li Xinwei, Wu Shiqiang, Jiang Wei, Shu Kai, Lei Ting
Department of Neurosurgery, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China.
Wuhan United Imaging Surgical Co., Ltd., Wuhan, China.
Chin Neurosurg J. 2025 Sep 16;11(1):20. doi: 10.1186/s41016-025-00401-x.
In recent years, robot-assisted stereotactic system has been widely used in stereo-electroencephalogram (SEEG) surgery. However, current registration mainly based on bone-fiducial registration (CBR) is limited by the inconvenient of repeated contact during the process. Here, a novel contactless optical-tracking registration (OTR) were applied for SEEG using robot-assisted stereotactic system. To demonstrate the accuracy and convenience of the novel OTR method compared with contact CBR method during the robot-assisted SEEG in phantom and animal model study.
A head phantom and 12 Bama pigs (Sus scrofa domestica) with six under CBR and six under OTR were selected for the SEEG. Procedures were performed using the robot-assisted stereotactic system in different registration methods. The positioning error and time consumption during the registration process were assessed to compare the accuracy and convenience of OTR and CBR. Besides, two new users for the robot-assisted stereotactic system were selected for the learning curve analysis.
The mean positioning errors in OTR group of the target and entry points were 1.68 ± 0.80 mm and 0.76 ± 0.39 mm. And in CBR group, mean positioning errors of the target and entry points were 1.49 ± 0.79 mm and 0.70 ± 0.33 mm. The registration time of OTR method (99.71 ± 1.08 s) was significantly shorter than that using CBR method (241.29 ± 28.95 s) (p value < 0.001). During the learning curve analysis, it is earlier for the users to go under OTR than CBR to reach a preferable entry error of 0.5 mm.
The contactless OTR method can effectively reduce the time consumption during the registration process while maintaining the accuracy with CBR method. The novel method not only simplify the procedure by optical-tracking but also shorten the new user's learning curve compared with current method.
近年来，机器人辅助立体定向系统已广泛应用于立体脑电图（SEEG）手术。然而，目前主要基于骨标志物配准（CBR）的配准在过程中受到重复接触不便的限制。在此，一种新型的非接触式光学跟踪配准（OTR）被应用于使用机器人辅助立体定向系统的SEEG。以证明在体模和动物模型研究中，与接触式CBR方法相比，新型OTR方法在机器人辅助SEEG过程中的准确性和便利性。
选择一个头部体模和12只巴马猪（家猪），其中6只采用CBR，6只采用OTR进行SEEG。使用机器人辅助立体定向系统以不同的配准方法进行操作。评估配准过程中的定位误差和时间消耗，以比较OTR和CBR的准确性和便利性。此外，选择两名机器人辅助立体定向系统的新用户进行学习曲线分析。
OTR组靶点和入点的平均定位误差分别为1.68±0.80mm和0.76±0.39mm。而在CBR组，靶点和入点的平均定位误差分别为1.49±0.79mm和0.70±0.33mm。OTR方法的配准时间（99.71±1.08秒）明显短于使用CBR方法的配准时间（241.29±28.95秒）（p值<0.001）。在学习曲线分析中，用户采用OTR比采用CBR更早达到0.5mm的理想入点误差。
非接触式OTR方法在保持与CBR方法相同准确性的同时，可有效减少配准过程中的时间消耗。与当前方法相比，该新方法不仅通过光学跟踪简化了操作程序，还缩短了新用户的学习曲线。
