CRANIO—computer-assisted planning for navigated and robot-assisted surgery on the skull

Popović, Aleksandra; Engelhardt, Martin; Wu, Ting; Portheine, F.; Schmieder, Kirsten; Radermacher, Klaus

doi:10.1016/s0531-5131(03)00398-4

Cited by 18 publications

(13 citation statements)

References 4 publications

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“…Within the CRANIO project a CT-based navigation module was developed for Computer and Robot Assisted Neurosurgery [23]. The project dealt with computer-assisted bone tumor segmentation, resection planning, robotic craniectomy and craniotomy, and skull reconstruction using customized implants [5].…”

Section: Introductionmentioning

confidence: 99%

Fast and accurate registration of cranial CT images with A-mode ultrasound

et al. 2009

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Section: Introductionmentioning

confidence: 99%

Fast and accurate registration of cranial CT images with A-mode ultrasound

et al. 2009

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“…Free-hand neurosurgical milling, even with a navigational help, cannot meet the accuracy requirements. To achieve these objectives, all aspects of the computer aided surgery have to be addressed: segmentation , resection planning, milling path generation and simulation (Popovic et al 2003), implant planning and manufacturing , intraoperative navigation and robot control (Popovic et al 2003, See Figure 1). Intraoperatively, a geometrical relation between patient's physical space and preoperative data (e.g.…”

mentioning

confidence: 99%

Efficient Non-Invasive Registration with A-Mode Ultrasound in Skull Surgery

Popović¹,

Heger²,

Follmann³

et al. 2008

Medical Robotics

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“…Different modules of the CRANIO system have already been analysed in previous studies (resection planning [11], implant design [40], navigation [22], and active robotics [2]). The following will focus on the evaluation of the overall system and will introduce the present authors' approach for synergistic cooperation together with preliminary results.…”

Section: Methodsmentioning

confidence: 99%

Robot- and computer-assisted craniotomy (CRANIO): From active systems to synergistic man—machine interaction

Cunha-Cruz

Follmann

Popović

et al. 2009

Proc Inst Mech Eng H

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Computer and robot assistance in craniotomy/craniectomy procedures is intended to increase precision and efficiency of the removal of calvarial tumours, enabling the preoperative design and manufacturing of the corresponding implant. In the framework of the CRANIO project, an active robotic system was developed to automate the milling processes based on a predefined resection planning. This approach allows for a very efficient milling process, but lacks feedback of the intra-operative process to the surgeon. To better integrate the surgeon into the process, a new teleoperated synergistic architecture was designed. This enables the surgeon to realize changes during the procedure and use their human cognitive capabilities. The preoperative planning information is used as guidance for the user interacting with the system through a master-slave architecture. In this article, the CRANIO system is presented together with this new synergistic approach. Experiments have been performed to evaluate the accuracy of the system in active and synergistic modes for the bone milling procedure. The laboratory studies showed the general feasibility of the new concept for the selected medical procedure and determined the accuracy of the system. Although the integration of the surgeon partially reduces the efficiency of the milling process compared with a purely active (automatic) milling, it provides more feedback and flexibility to the user during the intra-operative procedure.

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CRANIO—computer-assisted planning for navigated and robot-assisted surgery on the skull

Cited by 18 publications

References 4 publications

Fast and accurate registration of cranial CT images with A-mode ultrasound

Fast and accurate registration of cranial CT images with A-mode ultrasound

Efficient Non-Invasive Registration with A-Mode Ultrasound in Skull Surgery

Robot- and computer-assisted craniotomy (CRANIO): From active systems to synergistic man—machine interaction

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