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Enhanced torque‐based impedance control to assist brain targeting during open‐skull neurosurgery: a feasibility study
Author(s) -
Beretta E.,
Nessi F.,
Ferrigno G.,
Di Meco F.,
Perin A.,
Bello L.,
Casaceli G.,
Raneri F.,
De Benedictis A.,
De Momi E.
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.1690
Subject(s) - computer science , impedance control , torque , neurosurgery , controller (irrigation) , biomedical engineering , electrical impedance , admittance , brain stimulation , simulation , robot , medicine , artificial intelligence , surgery , stimulation , engineering , physics , electrical engineering , biology , agronomy , thermodynamics
Background Cooperatively‐controlled robotic assistance could provide increased positional accuracy and stable and safe tissue targeting tasks during open‐skull neurosurgical procedures, which are currently performed free‐hand. Methods Two enhanced torque‐based impedance control approaches, i.e. a variable damping criterion and a force‐feedback enhancement control, were proposed in combination with an image‐based navigation system. Control systems were evaluated on brain‐mimicking phantoms by 13 naive users and 8 neurosurgeons (4 novices and 4 experts). Results In addition to a 60% reduction of user effort, the combination of the proposed strategies showed comparable performances with respect to state‐of‐the‐art admittance controller, thus satisfying the clinical accuracy requirements (below 1 mm), reducing the hand tremor (by a factor of 10) and the tissue's indentation overshooting (by 80%). Conclusion Although the perceived reliability of the system should be improved, the proposed control was suitable to assist targeting procedures, such as brain cortex stimulation, allowing for accurate, stable and safe contact with soft tissues. Copyright © 2015 John Wiley & Sons, Ltd.