A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery

  title={A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery},
  author={Yik S. Kwoh and Juanru Hou and E. Jonckheere and Saboktakin Hayati},
  journal={IEEE Transactions on Biomedical Engineering},
The use of a Unimation Puma 200 robot, properly interfaced with a computerized tomographic (CT) scanner and with a probe guide mounted at its end effector for CT-guided brain tumor biopsis is discussed. Once the target is identified on the CT picture, a simple command allows the robot to move to a position such that the end-effector probe guide points toward the target. This results in a procedure faster than one using a manually adjustable frame. Probably the most important advantage, as is… 

Figures and Tables from this paper

Potential use of robots in endoscopic neurosurgery.
Present experience after 14 months of daily practice represents 140 stereotactic procedures which can be extended to any special use, including endoscopic approaches.
Needle Insertion Robotic Systems for Image-guided Stereotactic Neurosurgery
The history of this needle insertion robotic system for CT-guided stereotactic neurosurgery, followed by MRI-compatible version, is presented and a briefly reviews other stereootactic robots are reviewed.
Development of an image-guided robotic system for surgical positioning and drilling
A novel image-guided robotic system that can be used to position biopsy needles or drill fixation holes and is capable to move surgical tools to the preplanned location is developed.
A Workflow for Robot Assisted Neurosurgery
  • Da Liu, Tianmiao Wang
  • Computer Science
    2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2006
A workflow for robot assisted neurosurgery consisting of a robot for precise positioning and a vision system for intro-operative registration and the optimal dexterous region of the robot is found to satisfy desired dexterity.
Calibration of the motor-assisted robotic stereotaxy system: MARS
The kinematic properties of the robot were measured, and based on the results an appropriate calibration method was derived, showing that the robot’s accuracy is appropriate for stereotactic interventions.
Robotic three-dimensional positioning of a stimulation electrode in the brain.
A robotic three-dimensional electrode probe that can reach targets located within a cylindrical volume from a single approach trajectory is described and the accuracy of the probe as well as of the whole operating system, food gelatin being used to simulate brain matter.
Neuromaster: a robot system for neurosurgery
A robot system for minimally invasive frameless stereotactic neurosurgery that consists of a robot arm for precise positioning of surgical tools, a vision system for intro-operative registration, and a preoperative planning system is introduced.
Robots for stereotactic neurosurgery
Two needle insertion manipulators for neurosurgery have been developed in the laboratory, one is a CT image guided neurorobot and the other the equivalent for MRI usage, and their basic concept as medical robotics is described.
The Application Accuracy of NeuroMaster: a Robot System for Stereotactic Neurosurgery
  • Junchuan Liu, Yuru Zhang, Zhen Li
  • Materials Science
    2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications
  • 2006
The application accuracy is one of the most important specifications in robot-assisted stereotactic neurosurgery. This paper analyzed the application accuracy of a neurosurgical robot system and


Improving the absolute positioning accuracy of robot manipulators
A general method to estimate the link parameter errors for any serial link manipulator (i.e., n links, and any combination of revolute and prismatic joints) through a linear kinematic model.
Robot arm geometric link parameter estimation
  • S. Hayati
  • Engineering
    The 22nd IEEE Conference on Decision and Control
  • 1983
A general method for estimating serial link manipulator geometric parameter errors is proposed and may be increased significantly by updating the nominal link parameters in the control software to represent the physical system more accurately.
A new computerized tomographic aided robotic stereotactic system . ”
  • Robot Manipuiators : Mathematics , Programming and Control
  • 1984