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Development and preliminary assessment of a robotic platform for neuroendoscopy based on a lightweight robot
Author(s) -
Niccolini Marta,
Castelli Virginia,
Diversi Costanza,
Kang Byungjeon,
Mussa Federico,
Sinibaldi Edoardo
Publication year - 2016
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1638
Subject(s) - robot , computer science , interface (matter) , surgical robot , ventriculostomy , simulation , artificial intelligence , medicine , surgery , operating system , hydrocephalus , bubble , maximum bubble pressure method
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. Copyright © 2015 John Wiley & Sons, Ltd.