Simulation for Robotic Stereotactic Neurosurgery

Abstract

This Publication has to be referred as: Vidakovic AbstractThrough the development of different research and commercial systems, robotic neurosurgery slowly becomes more standard in the medical field. Beyond other advantages, the possibility of frameless neurosurgery is an important reason for their consideration. However, the use of robots in these applications brings problems regarding robot-patient positioning and possible influence of kinematic restrictions during the execution of a surgical plan. To cope with these, a simulation concept for the control of critical positioning and kinematic parameters is presented in this paper. An optical tracking system, simulation software and stereotactic planning mechanism are integrated into one functional unit. It is a simulation tool which is intended to be used shortly after the operation scene is set in the operating room to ensure seamless operation flow. The system is successfully implemented and evaluated in real clinical use.

Validation of Three KUKA Agilus Robots for Application in Neurosurgery

“…In this paper, we have provided extensive experimental results for validation of three standard industrial robots from the KR6 Agilus series for neurosurgical brain procedures. We have based the robot selection on our experience in the development of the RONNA neuronavigation system [11,21]. In the tests, three KUKA 6 DOF robot arms were validated with the reach of 707 mm (KR6 R700), 901 mm (KR6 R900) and 1101 mm (KR6 R1100).…”

A Novel Robotic Neuronavigation System: RONNA G3

“…On the other hand, the robotic system must meet complex requirements in terms of spatial working ability. Therefore, the robot system setup was designed using CAD software which enabled modelling and simulations [33] and [34]. Various trajectories and surgical instruments involved in neurosurgery were explored, as well as the requirements to be met regarding the location of the whole system in the operating room in relation to other equipment and medical staff.…”