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A robotic assistant for stereotactic neurosurgery on small animals
Author(s) -
Ramrath L.,
Hofmann U. G.,
Schweikard A.
Publication year - 2008
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.218
Subject(s) - stereotaxy , computer science , testbed , kinematics , positioning system , simulation , artificial intelligence , haptic technology , engineering , physics , computer network , structural engineering , classical mechanics , node (physics)
Background This work presents the development and performance analysis of a robotic system for stereotactic neurosurgery on small animals. The system is dedicated to the precise placement of probes in the small animal brain, thus providing an improved framework for brain research. Methods Based on an analysis of small animal stereotaxy, the mechanical design of the robotic system is presented. Details of the structure and mechanical components and a kinematic description are outlined. The calibration process of the system for arbitrary probes is described. To analyse the mechanical positioning accuracy of the system, a testbed is presented. Results Positioning performance results show that the system features a mean mechanical positioning accuracy of 32 µm and a mean positioning repeatability of 11 µm. Conclusion The system meets the requirements of targeting small functional areas within the brain of small animals and thus offers a new tool for small animal brain research. Copyright © 2008 John Wiley & Sons, Ltd.