Marta Niccolini1, Virginia Castelli1, Costanza Diversi1, Byungjeon Kang1,2, Federico Mussa3, Edoardo Sinibaldi1. 1. Center for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, 56025, Pontedera, Italy. 2. The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Italy. 3. Neurosurgery Department, Meyer Pediatric Hospital, Viale Pieraccini 24, 50139, Firenze, Italy.
Abstract
BACKGROUND: Ventriculostomy is a widely performed neurosurgical procedure; some risk factors can be mitigated by computer/robot-assisted approaches. Platforms fostering synergistic robot-surgeon integration are pursued, for which lightweight robots with compliant controlled joints must be assessed (because compliance hampers accuracy). METHODS: We developed a platform encompassing, in particular, a lightweight robot and an optical tracker also used to enhance robot accuracy. Based on specifications by neurosurgeons, we designed a neuroendoscope-handling interface and assessed targeting accuracy in a model ventriculostomy where the robot was operated both autonomously and in hands-on (i.e. co-operative) mode. RESULTS: Targeting errors were systematically below the procedure accuracy threshold (1 mm); the rms targeting errors were 0.51 and 0.54 mm for autonomous and hands-on control, respectively. No significant difference was observed between the considered control modes. Very positive feedback was gathered from neurosurgeons. CONCLUSIONS: Accurate tool targeting under both autonomous and hands-on control was achieved.
BACKGROUND: Ventriculostomy is a widely performed neurosurgical procedure; some risk factors can be mitigated by computer/robot-assisted approaches. Platforms fostering synergistic robot-surgeon integration are pursued, for which lightweight robots with compliant controlled joints must be assessed (because compliance hampers accuracy). METHODS: We developed a platform encompassing, in particular, a lightweight robot and an optical tracker also used to enhance robot accuracy. Based on specifications by neurosurgeons, we designed a neuroendoscope-handling interface and assessed targeting accuracy in a model ventriculostomy where the robot was operated both autonomously and in hands-on (i.e. co-operative) mode. RESULTS: Targeting errors were systematically below the procedure accuracy threshold (1 mm); the rms targeting errors were 0.51 and 0.54 mm for autonomous and hands-on control, respectively. No significant difference was observed between the considered control modes. Very positive feedback was gathered from neurosurgeons. CONCLUSIONS: Accurate tool targeting under both autonomous and hands-on control was achieved.
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Authors: Marko Švaco; Ivan Stiperski; Domagoj Dlaka; Filip Šuligoj; Bojan Jerbić; Darko Chudy; Marina Raguž Journal: Front Neurorobot Date: 2020-10-23 Impact factor: 2.650