Stereotactic Micronavigation

Project Description

the SASSU („Spherical Assistant for Stereotactic Surgery“) robot

Parkinson's disease (PD) is a widespread degenerative neurological disorder of the central nervous system with a marked degeneration of dopaminergic neurons in the substantia nigra, pars compacta of the brain mesencephalon. Cardinal symptoms for PD are tremor, a reduction and slowness of movements, akinesia, and rigidity. Deep brain stimulation (DBS) presents an effective treatment to reduce or reverse these symptoms. Also for other cerebral disorders such as dystonia, DBS by the means of implanted electrodes presents an accepted technique for treatment. Target areas for electrical high frequency stimulation (HFS) are the thalamus, internal globus pallidus (GPi) the subthalamic nucleus (STN). Stereotactic neurosurgery is used to target the GPi and STN area in the human brain.

Stereotactic interventions are in daily clinical application since the late 1950s. More recently, robots have been introduced to the operation theater. Their main advantage in comparison with manual interventions is the higher accuracy. This feature is of utmost importance for DBS electrode implantation.

The aim of our research is to develop a robotic system for stereotactic neurosurgery. The system is required to provide:

  • High accuracy
  • Mobility
  • Intuitive handling
  • Safety features

The Motor Assisted Robotic Stereotaxy system – MARS – is designed to fulfill the above mentioned requirements. It was developed in close colaboration with the neurosurgery department of the University Clinics Schleswig-Holstein and our industrial partners inomed Medizintechnik GmbH and IBG Technology GmbH.
Please have a look at recent publications in this field and feel free to contact us if you need further information or wish to discuss potential applications.

the MARS ("Motor Assisted Robotic Stereotaxy") system

Publications

Contact Person

Achim Schweikard
Bldg 64 / Room 97 +49 451 31015200


Floris Ernst
Bldg 64 / Room 95 +49 451 31015208


Former project members
  • Dr.-Ing. Maximilian Heinig
  • Dr.-Ing. Lukas Ramrath

2012

Max Heinig, Ulrich G. Hofmann and Alexander Schlaefer, Calibration of the Motor Assisted Robotic Stereotaxy System: MARS (2012), in: International Journal of Computer Assisted Radiology and Surgery, accepted for publication
[DOI]
[Bib|RIS]
Max Heinig, Design and Evaluation of the Motor Assisted Robotic Stereotaxy System MARS, University of Lübeck, Institute for Robotics and Cognitive Systems, 2012
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[Bib|RIS]
Max Heinig, Design and Evaluation of the Motor Assisted Robotic Stereotaxy System MARS, Institute for Robotics and Cognitive Systems, University of Lübeck, 2012
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[Bib|RIS]

2011

Max Heinig, Olaf Christ, Volker Tronnier, Ulrich G. Hofmann, Alexander Schlaefer and Achim Schweikard, Electromagnetic noise measurement of the Motor Assisted Robotic Stereotaxy System (MARS), in: Proceedings of the 4th Hamlyn Symposium on Medical Robotics, pages 63-64, 2011
[Bib|RIS]
Max Heinig, Maria Fernanda Govela, Fernando Gasca, Christian Dold, Ulrich G. Hofmann, Volker Tronnier, Alexander Schlaefer and Achim Schweikard, MARS - Motor Assisted Robotic Stereotaxy System, in: Proceedings of the 5th International IEEE EMBS Conference on Neural Engineering, Cancun, Mexico, pages 334-337, 2011
[Bib|RIS]

2010

Max Heinig, Alexander Schlaefer and Achim Schweikard, 3D localization of ferromagnetic probes for small animal neurosurgery, in: Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE, pages 2321 -2324, 2010
[DOI]
[Bib|RIS]

2009

Lukas Ramrath, Simon Vogt, Winnie Jensen, Ulrich G. Hofmann and Achim Schweikard, Computer and robot-assisted stereotaxy for high-precision small animal brain exploration (2009), in: Biological Psychiatry, 54:1(8--13)
[DOI]
[Bib|RIS]

2008

Lukas Ramrath, Ulrich G. Hofmann and Achim Schweikard, A Robotic Assistant for Stereotactic Neurosurgery on Small Animals (2008), in: International Journal of Medical Robotics and Computer Assisted Surgery, 4:4(295--303)
[DOI]
[Bib|RIS]
Lukas Ramrath, J. Levering, Matthias Conrad, A. Thuemen, H. Fuellgraf and Andreas Moser, Mathematical Identification of a Neuronal Network Consisting of GABA and DA in Striatal Slices of the Rat Brain (2008), in: Computational and Mathematical Methods in Medicine
[Bib|RIS]
S. Loeffler, Lukas Ramrath, Ulrich G. Hofmann, Achim Schweikard and Andreas Moser, Robot Assisted Stereotaxic Targeting for STN-DBS in the Rat Brain., in: 52. Jahrestagung der DGKN, Magdeburg, 2008
[DOI]
[Bib|RIS]
Lukas Ramrath, Ulrich G. Hofmann, Matteo C. M. Bonsanto, Volker Tronnier, S. Loeffler, Andreas Moser and Achim Schweikard, Robotic Framework for Small Animal Stereotaxy, in: FENS Abstr., Geneva, 2008
[Bib|RIS]

2007

Lukas Ramrath, Gereon Hüttmann, Ulrich G. Hofmann, Matteo C. M. Bonsanto, Volker Tronnier, Andreas Moser and Achim Schweikard, Entwicklung eines robotergestützten Stereotaxieassistenten für die Kleintierhirnforschung (2007), in: FOCUS MUL, 24:4(229-231)
[Bib|RIS]
Lukas Ramrath, Achim Schweikard and Ulrich G. Hofmann, Spherical Assistant for Stereotactic Surgery, in: Proceedings of the 2007 IEEE International Conference on Intelligent Robots and Systems, 2007
[Bib|RIS]