Accurate multi-robot targeting for keyhole neurosurgery based on external sensor monitoring

@article{Comparetti2012AccurateMT,
  title={Accurate multi-robot targeting for keyhole neurosurgery based on external sensor monitoring},
  author={Mirko Daniele Comparetti and Alberto Vaccarella and Ilya Dyagilev and Moshe Shoham and Giancarlo Ferrigno and Elena De Momi},
  journal={Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine},
  year={2012},
  volume={226},
  pages={347 - 359}
}
Robotics has recently been introduced in surgery to improve intervention accuracy, to reduce invasiveness and to allow new surgical procedures. In this framework, the ROBOCAST system is an optically surveyed multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system encompasses three robots, connected as a multiple kinematic chain (serial and parallel), totalling 13 degrees of freedom, and it is used to automatically align… 
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