Simulation for Robotic Stereotactic Neurosurgery

Through 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.