A Novel Robotic Neuronavigation System: RONNA G3

Švaco, Marko; Šekoranja, Bojan; Šuligoj, Filip; Vidaković, Josip; Jerbić, Bojan; Chudy, Darko

doi:10.5545/sv-jme.2017.4649

Cited by 7 publications

(8 citation statements)

References 28 publications

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“…The RONNA platform which was presented in detail in Ref. 47 shows the approach in designing the hardware independent platform. Further research with these novel robot arms is needed in order to elaborate and prove their benefits.…”

Section: Discussionmentioning

confidence: 99%

Frameless stereotactic brain biopsy: A prospective study on robot‐assisted brain biopsies performed on 32 patients by using the RONNA G4 system

Dlaka

Švaco

Chudy

et al. 2021

Robotics Computer Surgery

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Background We present a novel robotic neuronavigation system (RONNA G4), used for precise preoperative planning and frameless neuronavigation, developed by a research group from the University of Zagreb and neurosurgeons from the University Hospital Dubrava, Zagreb, Croatia. The aim of study is to provide comprehensive error measurement analysis of the system used for the brain biopsy. Methods Frameless stereotactic robot‐assisted biopsies were performed on 32 consecutive patients. Post‐operative CT and MRI scans were assessed to precisely measure and calculate target point error (TPE) and entry point error (EPE). Results The application accuracy of the RONNA system for TPE was 1.95 ± 1.11 mm, while for EPE was 1.42 ± 0.74 mm. The total diagnostic yield was 96.87%. Linear regression showed statistical significance between the TPE and EPE, and the angle of the trajectory on the bone. Conclusion The RONNA G4 robotic system is a precise and highly accurate autonomous neurosurgical assistant for performing frameless brain biopsies.

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Section: Discussionmentioning

confidence: 99%

Frameless stereotactic brain biopsy: A prospective study on robot‐assisted brain biopsies performed on 32 patients by using the RONNA G4 system

Dlaka

Švaco

Chudy

et al. 2021

Robotics Computer Surgery

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“…Another possible approach which will be taken into consideration is the development of our own controller for contouring applications whose structure and parameters would be known in detail since many studies have shown improved performance by using advanced control algorithms [7,10,11,13,16,17,21]. We also intend to use the results from this research in the development of robotic applications for sensitive bone drilling [27].…”

Section: Discussionmentioning

confidence: 99%

Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation

Švaco

Vitez

Šekoranja

et al. 2018

TFAMENA

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The application of industrial robots with advanced sensor systems in unstructured environments is continuously becoming wider. A widely used type of advanced sensor systems is the force-torque sensor. Force-torque sensors are typically used for applications such as robot grinding, sanding, polishing, and deburring, where a constant force is exerted upon a workpiece. In this research, control parameters for exerting a constant force along a predefined path are evaluated in laboratory conditions. The experimental setup with the contouring force feedback is composed of a Fanuc LRMate six-degree-of-freedom industrial robot with an integrated force-torque sensor. Control parameters of the Contouring function within the Fanuc robot controller are tuned in four contouring experiments. The experiments conducted in this research are: i) flat beam, ii) flat beam with a rigid support, iii) wave shaped compliant plate, and iv) compliant flat plate. During the experiments, contouring parameters were altered in order to collect the feedback on the values of the force to be used for the evaluation of the force deviation. A fitness function for the evaluation of the force deviation and the tuning of the control parameters is presented. The fitness function enables a selection of initial control parameters which minimize the force deviation during the robot contouring process.

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“…In the following sub-sections, the clinical procedure is described with an emphasis on the automation of the patient registration procedure and the calculation of transformations between all coordinate systems. A better general description of the RONNA G3 surgical procedure can be found in the paper by Švaco et al [17] while a medical case in which the RONNA G3 system was used is presented in the paper by Dlaka et al [18].…”

Section: Ronna G3 Clinical Procedures For Automatic Patient Registrationmentioning

confidence: 99%

Fully Automated Point-Based Robotic Neurosurgical Patient Registration Procedure

Šuligoj¹,

Jerbić²,

Švaco³

et al. 2018

Int. j. simul. model.

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In this study, we have introduced a framework for an automatic patient registration procedure using freely distributed fiducial markers within a robot application in neurosurgery. The localization procedures in the image space and in the physical space are fully automated. We have developed a novel algorithm for finding the point pair correspondence between freely distributed fiducial markers in the image and in the physical space. The algorithm introduces a similarity matrix to maximize the possibility of successful point pairing and to remove the potential outlier points. The correspondence algorithm has been tested in 900,000 computer simulations and also on the real data from five laboratory phantom CT scans and twelve clinical patient CT scans, which were paired with 1415 readings captured with an optical tracking system. Testing of simulated point scenarios showed that the correspondence algorithm has a higher percentage of success when a larger number of fiducial markers and a lower number of outlier points were present. In the 24055 tests on the clinical data, there has been a 100 % success rate.

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A Novel Robotic Neuronavigation System: RONNA G3

Cited by 7 publications

References 28 publications

Frameless stereotactic brain biopsy: A prospective study on robot‐assisted brain biopsies performed on 32 patients by using the RONNA G4 system

Frameless stereotactic brain biopsy: A prospective study on robot‐assisted brain biopsies performed on 32 patients by using the RONNA G4 system

Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation

Fully Automated Point-Based Robotic Neurosurgical Patient Registration Procedure

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