Abstract
This paper present a novel image-guided system for precise automatic targeting in keyhole minimally invasive neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle/probe insertion. Intraoperatively, the robot is directly affixed to a head clamp or to the patient skull. It automatically positions itself with respect to predefined targets in a preoperative CT/MRI image following an anatomical registration with a intraoperative 3D surface scan of the patient facial features. We describe the preoperative planning and registration modules, and an in-vitro registration experiment of the entire system which yields a target registration error of 1.7mm (std=0.7mm).
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Shamir, R., Freiman, M., Joskowicz, L., Shoham, M., Zehavi, E., Shoshan, Y. (2005). Robot-Assisted Image-Guided Targeting for Minimally Invasive Neurosurgery: Planning, Registration, and In-vitro Experiment. In: Duncan, J.S., Gerig, G. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2005. MICCAI 2005. Lecture Notes in Computer Science, vol 3750. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11566489_17
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DOI: https://doi.org/10.1007/11566489_17
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-29326-2
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