Robot-assisted image-guided targeting for minimally invasive neurosurgery: planning, registration, and in-vitro experiment

Authors:
R. Shamir;M. Freiman;L. Joskowicz;M. Shoham;E. Zehavi;Y. Shoshan
Affiliations:
School of Eng. and Computer Science, The Hebrew Univ. of Jerusalem, Israel;School of Eng. and Computer Science, The Hebrew Univ. of Jerusalem, Israel;School of Eng. and Computer Science, The Hebrew Univ. of Jerusalem, Israel;Dept. of Mechanical Engineering, Technion, Haifa, Israel and Mazor Surgical Technologies, Caesarea, Israel;Mazor Surgical Technologies, Caesarea, Israel;Dept. of Neurosurgery, School of Medicine, Hadassah University Hospital, Israel
Venue:
MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II
Year:
2005

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Abstract

This paper present a novel image-guided system for precise automatic targeting in keyhole minimally invasive neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle/ probe insertion. Intraoperatively, the robot is directly affixed to a head clamp or to the patient skull. It automatically positions itself with respect to predefined targets in a preoperative CT/MRI image following an anatomical registration with a intraoperative 3D surface scan of the patient facial features. We describe the preoperative planning and registration modules, and an in-vitro registration experiment of the entire system which yields a target registration error of 1.7mm (std=0.7mm).